$PNNVOJDBUJPO

'VODUJPO
.BOVBM

4*/".*$4
4*/".*$4
(%
(
(1
($

(%
'JFMECVTFT

&EJUJPO  XXXTJFNFOTDPNESJWFT

 Preface

Fundamental safety
instructions 1

General information 2
SINAMICS
Communication via
PROFIBUS and PROFINET 3
SINAMICS G115D, G120, G120P,
G120C, G120D Communication via
Fieldbuses EtherNet/IP 4

Function Manual
Communication via RS485 5
Communication over
CANopen 6
Communication via AS-i –
only for G115D 7

Appendix A

Edition 02/2023, Firmware V4.7 SP14

02/2023, FW V4.7 SP14

A5E34229197B AH
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG A5E34229197B AH Copyright © Siemens AG 2014 - 2023.

Digital Industries Ⓟ 03/2023 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

About this manual

This manual describes the settings and preconditions that are required to communicate with a
higher-level control system with the subsequently listed fieldbus systems.

Fieldbuses for SINAMICS G120

• PROFIBUS DP
• PROFINET
• EtherNet/IP
• USS
• Modbus RTU
• CANopen

Additional fieldbuses for SINAMICS G120P

• BACnet MS/TP
• P1

Fieldbuses for SINAMICS G115D

• PROFINET
• EtherNet/IP
• AS-Interface

What is the meaning of the symbols in the manual?

Reference to further information in the manual
Download from the Internet
DVD that can be ordered
End of a handling instruction.
❒

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 3
Preface

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4 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
Table of contents

Preface ................................................................................................................................................... 3
1 Fundamental safety instructions........................................................................................................... 9
1.1 General safety instructions................................................................................................... 9
1.2 Warranty and liability for application examples ..................................................................... 9
1.3 Security information ............................................................................................................ 9
2 General information ............................................................................................................................ 11
2.1 Ethernet and PROFINET protocols that are used .................................................................. 11
3 Communication via PROFIBUS and PROFINET ..................................................................................... 13
3.1 PROFIDRIVE profile - Cyclic communication ......................................................................... 13
3.1.1 Assigning control and status words .................................................................................... 16
3.1.1.1 Control and status word 1 .................................................................................................. 17
3.1.1.2 Control and status word 2 .................................................................................................. 20
3.1.1.3 Control and status word 3 .................................................................................................. 21
3.1.2 NAMUR message word ....................................................................................................... 23
3.1.3 Control and status word, encoder....................................................................................... 24
3.1.4 Position actual value of the encoder ................................................................................... 26
3.1.5 Extend telegrams and change signal interconnection.......................................................... 28
3.1.6 Data structure of the parameter channel ........................................................................... 31
3.1.6.1 Application examples ......................................................................................................... 40
3.1.7 Device-to-device communication........................................................................................ 42
3.2 PROFIDRIVE profile - Acyclic communication ....................................................................... 42
3.3 PROFIdrive profile - Diagnostic channels ............................................................................. 47
3.3.1 Diagnostics with PROFINET................................................................................................. 48
3.3.2 Diagnostics with PROFIBUS................................................................................................. 50
3.4 Identification & maintenance data (I&M) ............................................................................ 54
3.5 S7 communication............................................................................................................. 55
3.5.1 Directly accessing a SINAMICS G120 converter from a SIMATIC panel .................................. 55
3.6 Communication via PROFINET ............................................................................................ 58
3.6.1 Converter with PROFINET interface..................................................................................... 60
3.6.2 Integrating converters into PROFINET ................................................................................. 61
3.6.3 PROFINET IO operation....................................................................................................... 62
3.6.3.1 What do you have to set for communication via PROFINET?................................................. 62
3.6.3.2 Configuring communication to the control ......................................................................... 63
3.6.3.3 Installing GSDML ............................................................................................................... 65
3.6.3.4 Activating diagnostics via the control ................................................................................. 65
3.6.4 PROFIenergy ...................................................................................................................... 65
3.6.4.1 Energy-saving mode .......................................................................................................... 65
3.6.4.2 Control commands ............................................................................................................ 66
3.6.4.3 Status queries .................................................................................................................... 67
3.6.4.4 Error values and measured values ...................................................................................... 68

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Table of contents

3.6.5 The converter with PROFINET interface as Ethernet node. ................................................... 69

3.7 Communication via PROFIBUS ............................................................................................ 70
3.7.1 Converters with PROFIBUS interface ................................................................................... 72
3.7.2 What do you have to set for communication via PROFIBUS? ................................................ 74
3.7.3 Integrating converters into PROFIBUS ................................................................................. 75
3.7.4 Configuring communication to the control system.............................................................. 75
3.7.4.1 Configuring the communication using SIMATIC S7 control .................................................. 75
3.7.4.2 Configuring the communication with a third-party control system ...................................... 75
3.7.4.3 Installing the GSD .............................................................................................................. 76
3.7.5 Set the PROFIBUS address................................................................................................... 77
3.8 Select telegram.................................................................................................................. 77
4 Communication via EtherNet/IP........................................................................................................... 79
4.1 Converters with Ethernet/IP interface ................................................................................. 79
4.2 Connect converter to EtherNet/IP ....................................................................................... 81
4.3 What do you need for communication via EtherNet/IP? ....................................................... 81
4.4 Configuring communication............................................................................................... 82
4.5 Supported objects.............................................................................................................. 84
4.5.1 Supported ODVA AC/DC assemblies .................................................................................... 96
4.6 Create generic I/O module.................................................................................................. 97
4.7 The converter as an Ethernet station .................................................................................. 98
5 Communication via RS485 ................................................................................................................. 101
5.1 Converter with RS485 interface........................................................................................ 101
5.2 Integrating converters into a bus system via the RS485 interface ...................................... 103
5.3 Communication via USS ................................................................................................... 103
5.3.1 Basic settings for communication ..................................................................................... 104
5.3.1.1 Setting the address .......................................................................................................... 104
5.3.1.2 Parameters to set communication via USS ........................................................................ 105
5.3.2 Telegram structure........................................................................................................... 106
5.3.3 Specify user data of telegram ........................................................................................... 107
5.3.4 USS parameter channel .................................................................................................... 108
5.3.4.1 Telegram examples, length of the parameter channel = 4 ................................................. 113
5.3.5 USS process data channel (PZD) ....................................................................................... 114
5.3.6 Telegram monitoring ....................................................................................................... 117
5.4 Communication using Modbus RTU .................................................................................. 118
5.4.1 Basic settings for communication ..................................................................................... 119
5.4.1.1 Setting the address .......................................................................................................... 121
5.4.1.2 Parameters for setting communication via Modbus RTU .................................................... 121
5.4.2 Modbus RTU telegram...................................................................................................... 124
5.4.3 Baud rates and mapping tables ........................................................................................ 125
5.4.4 Mapping tables - converter data ....................................................................................... 127
5.4.5 Acyclic communication via Modbus RTU ........................................................................... 130
5.4.6 Write and read access using function codes ...................................................................... 131
5.4.7 Acyclically read and write parameter via FC 16.................................................................. 133
5.4.7.1 Read parameter ............................................................................................................... 134
5.4.7.2 Write parameter............................................................................................................... 136

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 Table of contents

5.4.8 Communication procedure............................................................................................... 137

5.4.9 Application example ........................................................................................................ 138
5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT........................................... 138
5.5.1 Basic settings for communication ..................................................................................... 139
5.5.1.1 Setting the address .......................................................................................................... 141
5.5.1.2 Parameters for setting communication via BACnet ............................................................ 142
5.5.2 Supported services and objects ........................................................................................ 143
5.5.3 Acyclic communication (general parameter access) via BACnet ......................................... 152
5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT ............................................ 153
5.6.1 Basic settings for communication via P1 ........................................................................... 154
5.6.2 Setting the address .......................................................................................................... 155
5.6.3 Point numbers ................................................................................................................. 156
6 Communication over CANopen ......................................................................................................... 159
6.1 Network management (NMT service) ............................................................................... 161
6.2 SDO services.................................................................................................................... 164
6.2.1 Access to SINAMICS parameters via SDO........................................................................... 164
6.2.2 Access PZD objects via SDO .............................................................................................. 166
6.3 PDO services ................................................................................................................... 167
6.3.1 Predefined connection set ................................................................................................ 172
6.3.2 Free PDO mapping ........................................................................................................... 174
6.3.3 Interconnect objects from the receive and transmit buffers ............................................... 177
6.3.4 Free PDO mapping for example of the actual current value and torque limit ...................... 179
6.4 CANopen operating modes ............................................................................................. 180
6.5 RAM to ROM via the CANopen object 1010....................................................................... 182
6.6 Object directories............................................................................................................. 183
6.6.1 General objects from the CiA 301 communication profile.................................................. 183
6.6.2 Free objects ..................................................................................................................... 192
6.6.3 Objects from the CiA 402 drive profile .............................................................................. 193
6.7 Integrating the converter into CANopen ........................................................................... 194
6.7.1 Connecting converter to CAN bus..................................................................................... 195
6.7.2 Setting the node ID and baud rate .................................................................................... 195
6.7.3 Setting the monitoring of the communication .................................................................. 197
6.8 Error diagnostics .............................................................................................................. 198
6.9 CAN bus sampling time.................................................................................................... 201
7 Communication via AS-i – only for G115D......................................................................................... 203
7.1 Setting the address .......................................................................................................... 204
7.2 Single Device mode ......................................................................................................... 206
7.3 Dual Device mode ............................................................................................................ 207
7.4 Assignment tables ........................................................................................................... 210
7.5 Cyclic and acyclic communication via CTT2....................................................................... 212
7.5.1 Cyclic communication ...................................................................................................... 213
7.5.2 Acyclic communication - standard .................................................................................... 214
7.5.3 Acyclic communication - manufacturer-specific................................................................. 214

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Table of contents

A Appendix............................................................................................................................................ 217
A.1 Application examples for communication with STEP7 ....................................................... 217
A.2 Manuals and technical support......................................................................................... 217
A.2.1 Overview of the manuals ................................................................................................. 217
A.2.2 Configuring support ......................................................................................................... 219
A.2.3 Product Support............................................................................................................... 220
Index .................................................................................................................................................. 223

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8 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
Fundamental safety instructions 1
1.1 General safety instructions

WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.

WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.

1.2 Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.

1.3 Security information

Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 9
Fundamental safety instructions
1.3 Security information

to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation)
are in place.
For additional information on industrial security measures that may be implemented, please
visit
https://www.siemens.com/industrialsecurity.
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under
https://www.siemens.com/cert.
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in
your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security concept.
• Protect files stored on exchangeable storage media from malicious software by with suitable
protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.

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10 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
General information 2
Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control Unit
with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with G115D). You
can find additional details in the operating instructions for the converter or the Control Unit.

2.1 Ethernet and PROFINET protocols that are used

The converter supports the protocols listed in the following tables. The address parameters, the
relevant communication layer as well as the communication role and the communication
direction are specified for each protocol.
You require this information to set the appropriate safety measures to protect the automation
system, e.g. in the firewall.
As the security measures are limited to Ethernet and PROFINET networks, no PROFIBUS
protocols are listed in the table.

Table 2-1 PROFINET protocols

Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
DCP: Not rele‐ (2) Ethernet II and Accessible stations, PROFINET Discovery and configuration
Discovery and vant IEEE 802.1Q and DCP is used by PROFINET to determine PROFINET devices and to make
configuration Ethertype 0x8892 (PRO‐ basic settings.
protocol FINET)
DCP uses the special multicast MAC address:
xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally Unique Identifier
LLDP: Not rele‐ (2) Ethernet II and PROFINET Link Layer Discovery protocol
Link Layer Dis‐ vant IEEE 802.1Q and LLDP is used by PROFINET to determine and manage neighborhood
covery Protocol Ethertype 0x88CC (PRO‐ relationships between PROFINET devices.
FINET)
LLDP uses the special multicast MAC address:
01-80-C2-00-00-0E
MRP: Not rele‐ (2) Ethernet II and PROFINET medium redundancy
Media Redun‐ vant IEEE 802.1Q and MRP enables the control of redundant routes through a ring topology.
dancy Protocol Ethertype 0x88E3 (PRO‐
MRP uses the special multicast MAC address:
FINET)
xx-xx-xx-01-15-4E,
xx-xx-xx = Organizationally Unique Identifier

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General information
2.1 Ethernet and PROFINET protocols that are used

Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
PTCP Not rele‐ (2) Ethernet II and PROFINET send clock and time synchronization, based on IEEE 1588
Precision Trans‐ vant IEEE 802.1Q and PTC is used to implement send clock synchronization and time syn‐
parent Clock Ethertype 0x8892 (PRO‐ chronization between RJ45 ports, which are required for IRT operation.
Protocol FINET)
PTCP uses the special multicast MAC address:
xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally Unique Identifier
PROFINET IO da‐ Not rele‐ (2) Ethernet II and PROFINET Cyclic IO data transfer
ta vant IEEE 802.1Q and The PROFINET IO telegrams are used to transfer IO data cyclically be‐
Ethertype 0x8892 (PRO‐ tween the PROFINET IO controller and IO devices via Ethernet.
FINET)
PROFINET Con‐ 34964 (4) UDP PROFINET connection less RPC
text Manager The PROFINET context manager provides an endpoint mapper in order
to establish an application relationship (PROFINET AR).

Table 2-2 EtherNet/IP protocols

Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
Implicit mes‐ 2222 (4) UDP Used for exchanging I/O data.
saging This is inactive when delivered. Is activated when selecting EtherNet/IP.
Explicit messag‐ 44818 (4) TCP Used for parameter access (writing, reading).
ing (4) UDP This is inactive when delivered. Is activated when selecting EtherNet/IP.

Table 2-3 Connection-oriented communication protocols

Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
ISO on TCP (ac‐ 102 (4) TCP ISO-on-TCP protocol
cording to RFC ISO on TCP (according to RFC 1006) is used for the message-oriented
1006) data exchange to a remote CPU, WinAC or devices of other suppliers.
Communication with ES, HMI, etc. is activated in the factory setting,
and is always required.
SNMP 161 (4) UDP Simple network management protocol
Simple Net‐ SNMP enables network management data to be read out and set (SNMP
work Manage‐ managed objects) by the SNMP manager.
ment Protocol It is activated in the factory setting, and is always required
Reserved 49152 ... (4) TCP Dynamic port area that is used for the active connection endpoint if the
65535 (4) UDP application does not specify the local port.

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Communication via PROFIBUS and PROFINET 3
3.1 PROFIDRIVE profile - Cyclic communication
Depending on the Control Unit or converter, there are different telegrams for communication via
PROFIBUS DP or PROFINET IO. The structure of the individual telegrams are listed below.
The Startdrive commissioning tool or an operator panel only list the telegrams for selection
that are possible with your particular converter.
Commissioning the converter and selecting a telegram are described in the operating
instructions.
Overview of the manuals (Page 217)

Communication telegrams if "basic positioner" has been configured

The converter has the following telegrams if you have configured the "Basic positioner" function:
• Standard telegram 7, PZD-2/2
• Standard telegram 9, PZD-10/5
• SIEMENS telegram 110, PZD-12/7
• SIEMENS telegram 111, PZD-12/12
• Telegram 999, free interconnection
Telegrams 7, 9, 110 and 111 are described in the "Basic positioner" Function Manual
Overview of the manuals (Page 217)

Communication telegrams for speed control

The send and receive telegrams of the converter for closed-loop speed control are structured as
follows:

7HOHJUDP
3=' 3='
162//
67: 5HFHLYHXVHUGDWD
B$
=6: 1,67B$ 6HQGXVHUGDWD

Figure 3-1 16-bit speed setpoint

7HOHJUDP
3=' 3=' 3=' 3='
67: 162//B% 67:

=6: 1,67B% =6:

Figure 3-2 32-bit speed setpoint

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Communication via PROFIBUS and PROFINET
3.1 PROFIDRIVE profile - Cyclic communication

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3='
*B
67: 162//B% 67:
67:
*B
=6: 1,67B% =6: *B;,67 *B;,67
=6:
Figure 3-3 32-bit speed setpoint with 1 position encoder

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3='
*B *B67
67: 162//B% 67:
67: :
*B *B
=6: 1,67B% =6: *B;,67 *B;,67 *B;,67 *B;,67
=6: =6:
Figure 3-4 32-bit speed setpoint with 2 position encoders

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3='
162//B
67:
$
1,67B$ ,$,67B 0,67B 3,67B 0(/'B
=6:
*/$77 */$77 */$77 */$77 1$085
Figure 3-5 16-bit speed setpoint for VIK-Namur

7HOHJUDP
3=' 3=' 3=' 3='
162//
67: 0B/,0 67:
B$
1,67B$ ,$,67B
=6: =6:
*/$77 */$77
Figure 3-6 16-bit speed setpoint with torque limiting

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3='
162//
67: )UHHO\DVVLJQDEOH
B$
1,67B$ ,$,67B 0,67B :$51B )$8/7B
=6:
*/$77 */$77 */$77 &2'( &2'(
Figure 3-7 16-bit speed setpoint for PCS7

7HOHJUDP
3=' 3='
162//
67:
B$
3.:
1,67B$
=6:
*/$77
Figure 3-8 16-bit speed setpoint with PKW range to read and write parameters

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3='
162//
67: )UHHO\DVVLJQDEOH
B$
3.:
1,67B$ ,$,67B 0,67B :$51B )$8/7B
=6:
*/$77 */$77 */$77 &2'( &2'(
Figure 3-9 16-bit speed setpoint for PCS7 with PKW range to read and write parameters

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14 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication via PROFIBUS and PROFINET
3.1 PROFIDRIVE profile - Cyclic communication

7HOHJUDP
3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3=' 3='
67: 7HOHJUDPOHQJWKIRUWKHUHFHLYHGDWD

=6: 7HOHJUDPOHQJWKIRUWKHWUDQVPLWGDWD

Figure 3-10 Telegram with free interconnection and length

Abbreviation Explanation Abbreviation Explanation

PZD Process data PKW Parameter channel
STW Control word PIST_GLATT Actual active power value, smoothed
ZSW Status word M_LIM Torque limit
NSOLL_A Speed setpoint 16-bit FAULT_CODE Fault code
NSOLL_B Speed setpoint 32-bit WARN_CODE Alarm code
NIST_A Actual speed value 16-bit MELD_NAMUR Message according to the VIK-NAMUR defini‐
tion
NIST_B Actual speed value 32-bit G1_STW / Control word for encoder 1 or encoder 2
G2_STW
IAIST Current actual value G1_ZSW / Status word for encoder 1 or encoder 2
G2_ZSW
IAIST_GLATT Current actual value, smoothed G1_XIST1 / Position actual value 1 from encoder 1 or en‐
G2_XIST1 coder 2
MIST_GLATT Torque actual value, smoothed G1_XIST2 / Position actual value 2 from encoder 1 or en‐
G2_XIST2 coder 2

Interconnection of the process data

S>@ U>@
S>@ U>@ 31R 3='VHQGZRUG
31R
S>@ U>@
S>@ U>@ 31R 3='VHQGZRUG
31R
S>@ U>@
S>@ U>@ 31R 3='VHQGZRUG
31R
S>@ U>@ 

S>@ U>@ 31R 3='VHQGZRUG

31R

S>@ U>@
31R
S>@ U>@
31R 3='VHQGZRUG
 6HQGZRUGSDUDPHWHUQXPEHUGRXEOHZRUG  6HQGZRUGSDUDPHWHUQXPEHUZRUG
 6HQGZRUGYDOXHGRXEOHZRUG  6HQGZRUGYDOXHZRUG
Figure 3-11 Interconnection of the send words

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Communication via PROFIBUS and PROFINET
3.1 PROFIDRIVE profile - Cyclic communication

U
5HFHLYHZRUG3=' U>@ U
U>@ U
5HFHLYHZRUG3=' U>@ U
U>@  U
5HFHLYHZRUG3=' U>@ U
U>@  U
5HFHLYHZRUG3=' U>@ U
U>@ 

U>@
5HFHLYHZRUG3=' U>@

9DOXHUHFHLYHZRUG 
9DOXHUHFHLYHZRUG 
9DOXHUHFHLYHZRUG
GRXEOHZRUG ZRUG ELWE\ELW
Figure 3-12 Interconnection of the receive words

The telegrams use - with the exception of telegram 999 (free interconnection) - the word-by-
word transfer of send and receive data (r2050/p2051).
If you require an individual telegram for your application (e.g. for transferring double words),
you can adapt one of the predefined telegrams using parameters p0922 and p2079. For
details, please refer to the List Manual, function diagrams 2420 and 2472.

3.1.1 Assigning control and status words

Assigning control and status of words is specified in part by the definitions in the PROFIdrive
profile, Version 4.2 for the "Closed-loop speed control" operating mode; the other part is
assigned depending on the particular manufacturer.
A more detailed description of the individual control and status words is provided in the
following sections.
If you require an individual assignment for your application, you can adapt one of the
existing control and status words using p0922 and p2079.
Extend telegrams and change signal interconnection (Page 28)

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3.1 PROFIDRIVE profile - Cyclic communication

3.1.1.1 Control and status word 1

Control word 1 is preassigned as follows:
• Telegrams 1, 2, 3 and 4:
– Bits 0 … 10 corresponding to the PROFIdrive profile,
– Bits 11… 15 manufacturer-specific
• Telegrams 7 and 9:
– Bits 0 … 11 corresponding to the PROFIdrive profile,
– Bits 12 … 15 manufacturer-specific
• Telegram 20 (VIK/NAMUR):
– Bits 0 … 11 corresponding to the PROFIdrive profile
– Bits 12 … 14 reserved
– Bit 15 corresponding to the PROFIdrive profile
Status word 1 is preassigned as follows:
• Telegrams 1, 2, 3 and 4:
– Bits 0 … 10 corresponding to the PROFIdrive profile,
– Bits 11… 15 manufacturer-specific
• Telegrams 7 and 9:
– Bits 0 … 13 corresponding to the PROFIdrive profile,
– Bits 14 … 15 manufacturer-specific
• Telegram 20 (VIK/NAMUR):
– Bits 0 … 11 corresponding to the PROFIdrive profile
– Bit 12 reserved
– Bits 13 … 15 corresponding to the PROFIdrive profile

Control word 1 (STW1)

Bit Meaning Explanation Signal inter‐

Telegram 20 All other tele‐ connection
grams in the con‐
verter
0 0 = OFF1 The motor brakes with the ramp-down time p0840[0] =
p1121 of the ramp-function generator. The con‐ r2090.0
verter switches off the motor at standstill.
0 → 1 = ON The converter goes into the "ready" state. If, in
addition, bit 3 = 1, the converter switches on the
motor.
1 0 = OFF2 Switch off the motor immediately, the motor p0844[0] =
then coasts down to a standstill. r2090.1
1 = No OFF2 The motor can be switched on (ON command).

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Bit Meaning Explanation Signal inter‐

Telegram 20 All other tele‐ connection
grams in the con‐
verter
2 0 = Quick stop (OFF3) Fast stopping p0848[0] =
The motor brakes with the OFF3 ramp-down r2090.2
time p1135 down to standstill.
1 = No quick stop (OFF3) The motor can be switched on (ON command).
3 0 = Inhibit operation Immediately switch-off motor (cancel pulses). p0852[0] =
1 = Enable operation Switch-on motor (pulses can be enabled). r2090.3
4 0 = Disable RFG The converter immediately sets its ramp-func‐ p1140[0] =
tion generator output to 0. r2090.4
1 = Do not disable RFG The ramp-function generator can be enabled.
5 0 = Stop RFG The output of the ramp-function generator p1141[0] =
stops at the actual value. r2090.5
1 = Enable RFG The output of the ramp-function generator fol‐
lows the setpoint.
6 0 = Inhibit setpoint The converter brakes the motor with the ramp- p1142[0] =
down time p1121 of the ramp-function gener‐ r2090.6
ator.
1 = Enable setpoint Motor accelerates with the ramp-up time p1120
to the setpoint.
7 0 → 1 = Acknowledge faults Acknowledge fault. If the ON command is still p2103[0] =
active, the converter switches to the "switching r2090.7
on inhibited" state.
8, 9 Reserved
10 0 = No control via PLC Converter ignores the process data from the p0854[0] =
fieldbus. r2090.10
1 = Control via PLC Control via fieldbus, converter accepts the proc‐
ess data from the fieldbus.
11 1 = Direction reversal Invert setpoint in the converter. p1113[0] =
r2090.11
12 Not used
13 ---1) 1 = MOP up Increase the setpoint saved in the motorized po‐ p1035[0] =
tentiometer. r2090.13
14 ---1) 1 = MOP down Reduce the setpoint saved in the motorized po‐ p1036[0] =
tentiometer. r2090.14
15 CDS bit 0 Reserved Changes over between settings for different op‐ p0810 =
eration interfaces (command data sets). r2090.15
1)
If you change over from another telegram to telegram 20, then the assignment of the previous
telegram is kept.

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Status word 1 (ZSW1)

Bit Meaning Remarks Signal inter‐

Telegram 20 All other tele‐ connection
grams in the con‐
verter
0 1 = Ready for switching on Power supply switched on; electronics initial‐ p2080[0] =
ized; pulses locked. r0899.0
1 1 = Ready Motor is switched on (ON/OFF1 = 1), no fault is p2080[1] =
active. With the command "Enable operation" r0899.1
(STW1.3), the converter switches on the motor.
2 1 = Operation enabled Motor follows setpoint. See control word 1, p2080[2] =
bit 3. r0899.2
3 1 = Fault active The converter has a fault. Acknowledge fault p2080[3] =
using STW1.7. r2139.3
4 1 = OFF2 inactive Coast down to standstill is not active. p2080[4] =
r0899.4
5 1 = OFF3 inactive Quick stop is not active. p2080[5] =
r0899.5
6 1 = Switching on inhibited active It is only possible to switch on the motor after p2080[6] =
an OFF1 followed by ON. r0899.6
7 1 = Alarm active Motor remains switched on; no acknowledge‐ p2080[7] =
ment is necessary. r2139.7
8 1 = Speed deviation within the tol‐ Setpoint / actual value deviation within the tol‐ p2080[8] =
erance range erance range. r2197.7
9 1 = Master control requested The automation system is requested to accept p2080[9] =
the converter control. r0899.9
10 1 = Comparison speed reached or Speed is greater than or equal to the corre‐ p2080[10]
exceeded sponding maximum speed. = r2199.1
11 1 = current or 1 = torque limit Comparison value for current or torque has p2080[11]
torque limit reached been reached or exceeded. = r0056.13 /
reached r1407.7
12 ---1) 1 = Holding Signal to open and close a motor holding brake. p2080[12]
brake open = r0899.12
13 0 = Alarm, motor overtemperature -- p2080[13]
= r2135.14
14 1 = Motor rotates clockwise Internal converter actual value > 0 p2080[14]
0 = Motor rotates counter-clock‐ Internal converter actual value < 0 = r2197.3
wise
15 1 = CDS display 0 = Alarm, con‐ -- p2080[15]
verter thermal = r0836.0 /
overload r2135.15
1)
If you change over from another telegram to telegram 20, then the assignment of the previous
telegram is kept.

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3.1.1.2 Control and status word 2

Control word 2 is preassigned as follows:
• Bits 0 … 11 manufacturer-specific
• Bits 12 … 15 corresponding to the PROFIdrive profile
Status word 2 is preassigned as follows:
• Bits 0 … 11 manufacturer-specific
• Bits 12 … 15 corresponding to the PROFIdrive profile

Control word 2 (STW2)

Bit Meaning Signal interconnection in the

Telegrams 2, 3 and 4 Telegrams 9, 110 and 111 converter

0 1 = drive data set selection DDS bit 0 p0820[0] = r2093.0

1 1 = drive data set selection DDS bit 1 p0821[0] = r2093.1
2…6 Reserved
7 1 = parking axis is selected p0897 = r2093.7
8 1 = travel to fixed stop active Reserved p1545[0] = r2093.8
9…11 Reserved
12 1 = master sign-of-life bit 0 p2045 = r2050[3]
13 1 = master sign-of-life bit 1
14 1 = master sign-of-life bit 3
15 1 = master sign-of-life bit 4

Status word 2 (ZSW2)

Bit Meaning Signal interconnection in the

converter
0 1 = Drive data set DDS effective, bit 0 p2081[0] = r0051.0
1 1 = Drive data set DDS effective, bit 1 p2081[1] = r0051.1
2…4 Reserved
5 1 = Alarm class bit 0 p2081[5] = r2139.11
6 1 = alarm class bit 1 p2081[6] = r2139.12
7 Reserved
8 1 = travel to fixed stop active p2081[8] = r1406.8
9 Reserved
10 1 = pulses enabled p2081[10] = r0899.11
11 Reserved
12 Device sign-of-life bit 0 Internally interconnected
13 Device sign of life bit 1
14 Device sign of life bit 2
15 Device sign of life bit 3

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3.1.1.3 Control and status word 3

Control word 3 is preassigned as follows:
• Bits 0 … 15 manufacturer-specific
Status word 3 is preassigned as follows:
• Bits 0 … 15 manufacturer-specific

Control word 3 (STW3)

Bit Meaning Explanation Signal interconnec‐

Telegram 350 tion in the converter 1)

0 1 = fixed setpoint bit 0 Selects up to 16 different fixed p1020[0] = r2093.0

1 1 = fixed setpoint bit 1 setpoints. p1021[0] = r2093.1
2 1 = fixed setpoint bit 2 p1022[0] = r2093.2
3 1 = fixed setpoint bit 3 p1023[0] = r2093.3
4 1 = DDS selection bit 0 Changes over between settings p0820 = r2093.4
5 1 = DDS selection bit 1 for different motors (drive data p0821 = r2093.5
sets).
6 Not used
7 Not used
8 1 = technology controller enable -- p2200[0] = r2093.8
9 1 = enable DC braking -- p1230[0] = r2093.9
10 Not used
11 1 = Enable droop Enable or inhibit speed control‐ p1492[0] = r2093.11
ler droop.
12 1 = torque control active Changes over the control mode p1501[0] = r2093.12
0 = speed control active for vector control.
13 1 = no external fault -- p2106[0] = r2093.13
0 = external fault is active (F07860)
14 Not used
15 1 = CDS bit 1 Changes over between settings p0811[0] = r2093.15
for different operation interfaces
(command data sets).
1)
If you switch from telegram 350 to a different one, then the converter sets all interconnections p1020,
… to "0". Exception: p2106 = 1.

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Status word 3 (ZSW3)

Bit Meaning Description Signal intercon‐

nection in the
converter
0 1 = DC braking active -- p2051[3] = r0053
1 1 = |n_act | > p1226 Absolute current speed > stationary
state detection
2 1 = |n_act | > p1080 Absolute actual speed > minimum
speed
3 1 = i_act ≧ p2170 Actual current ≥ current threshold
value
4 1 = |n_act | > p2155 Absolute actual speed > speed
threshold value 2
5 1 = |n_act | ≦ p2155 Absolute actual speed < speed
threshold value 2
6 1 = |n_act | ≧ r1119 Speed setpoint reached
7 1 = DC link voltage ≦ p2172 Actual DC link voltage ≦ threshold
value
8 1 = DC link voltage > p2172 Actual DC link voltage > threshold
value
9 1 = ramp-up or ramp-down completed Ramp-function generator is not ac‐
tive.
10 1 = technology controller output at Technology controller output ≦
the lower limit p2292
11 1 = technology controller output at Technology controller out‐
the upper limit put > p2291
12 Not used
13 Not used
14 Not used
15 Not used

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3.1.2 NAMUR message word

Function description

Fault word according to the VIK-NAMUR definition (MELD_NAMUR)

Bit Significance P No.

0 1 = Control Unit signals a fault p2051[5] = r3113
1 1 = line fault: Phase failure or inadmissible voltage
2 1 = DC link overvoltage
3 1 = Power Module fault, e.g. overcurrent or overtemperature
4 1 = converter overtemperature
5 1 = ground fault/phase fault in the motor cable or in the motor
6 1 = motor overload
7 1 = communication error to the higher-level control system
8 1 = fault in a safety-relevant monitoring channel
10 1 = fault in the internal converter communication
11 1 = line fault
15 1 = other fault

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3.1.3 Control and status word, encoder

Telegrams 3 and 4 allow the higher-level control system to directly access the encoder.
Direct access is necessary, if the higher-level control is responsible for the closed-loop
position control for the drive.
If you enable the "Basic positioner" position control in the converter, then telegrams 3 and 4
cannot be selected, and the converter handles the encoder control.

Control word encoder (G1_STW and G2_STW)

Bit Meaning Explanation Signal interconnec‐

tion in the converter
Bit 7 = 0 Bit 7 = 1
0 Function 1 1 = search for reference 1 = request flying referencing Telegram 3:
cam 1 with a positive to the rising edge of refer‐ Encoder 1:
start direction ence cam 1 p0480[0] = r2050[4]
1 Function 2 1 = search for reference 1 = request flying referencing
cam 1 with a negative to the falling edge of refer‐
Telegram 4:
start direction ence cam 1
Encoder 1:
2 Function 3 1 = search for reference 1 = request flying referencing
p0480[0] = r2050[4]
cam 2 with a positive to the rising edge of refer‐
encoder 2:
start direction ence cam 2
p0480[1] = p2050[9]
3 Function 4 1 = search for reference 1 = request flying referencing
cam 2 with a negative to the falling edge of refer‐
start direction ence cam 2 Telegram 102:
4 Command bit 0 1 = activate the function requested using bit 0 … 3 Encoder 1:
p0480[0] = r2050[5]
5 Command bit 1 1 = read the value requested using bit 0 … 3
6 Command bit 2 Reserved
Telegram 103:
7 Mode 1 = flying referencing
0 = search for reference cams Encoder 1:
p0480[0] = r2050[5]
8 Reserved --- encoder 2:
… p0480[1] =
12 p2050[10]
13 Cyclic absolute 1 = request for the cyclic transfer of the position actual
value value in G1_XIST2 or G2_XIST2
14 Parking 1 = request to park the encoder
15 Acknowledge 0 → 1 = acknowledge encoder fault

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Status word encoder (G1_ZSW and G2_ZSW)

Bit Meaning Explanation Signal interconnec‐

tion in the converter
Bit 7 = 0 Bit 7 = 1
0 Function 1 1 = search for refer‐ 1 = flying referencing to the rising Telegram 3:
ence cam 1 is active edge of reference cam 1 is active Encoder 1:
1 Function 2 1 = search for refer‐ 1 = flying referencing to the falling p2051[4] = r0481[0]
ence cam 1 is active edge of reference cam 1 is active
2 Function 3 1 = search for refer‐ 1 = flying referencing to the rising Telegram 4:
ence cam 2 is active edge of reference cam 2 is active
Encoder 1:
3 Function 4 1 = search for refer‐ 1 = flying referencing to the falling p2051[4] = r0481[0]
ence cam 2 is active edge of reference cam 2 is active encoder 2:
4 Status value 1 1 = position actual 1 = flying referencing to the rising p2051[9] = r0481[1]
value is at reference edge of reference cam 1 has been
cam 1 completed
Telegram 102:
5 Status value 2 1 = position actual 1 = flying referencing to the falling Encoder 1:
value is at reference edge of reference cam 1 has been p2051[5] = r0481[0]
cam 1 completed
6 Status value 3 1 = position actual 1 = flying referencing to the rising
value is at reference edge of reference cam 2 has been Telegram 103:
cam 2 completed Encoder 1:
7 Status value 4 1 = position actual 1 = flying referencing to the falling p2051[5] = r0481[0]
value is at reference edge of reference cam 2 has been encoder 2:
cam 2 completed p2051[10] =
r0481[0]
8 Reference 1 = reference cam 1 supplies a high signal
cam 1 0 = reference cam 1 supplies a low signal
9 Reference 1 = reference cam 2 supplies a high signal
cam 2 0 = reference cam 2 supplies a low signal
10 Reserved ---
11 Acknowledge 1 = acknowledge encoder fault is active
12 Reserved ---
13 Cyclic absolute 1 = the position actual value is in G1_XIST2 or G2_XIST2.
value
14 Parking 1 = the encoder is parked
15 Fault 1 = the encoder indicates its actual fault in r0483

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3.1.4 Position actual value of the encoder

G1_XIST1 and G2_XIST1

In the factory setting, the converter transfers the encoder position actual value with a fine
resolution of 11 bits to the higher-level control system.

1XPEHURIHQFRGHUSXOVHV )LQHUHVROXWLRQ

%LW   
Figure 3-13 G1_XIST1 and G2_XIST1

The transferred encoder signal has the following properties:

• After the converter power supply has been switched on, the encoder signal = 0.
• The higher-level control must be able to handle a counter overflow of the encoder signal.

G1_XIST2 and G2_XIST2

In G1_XIST2 or G2_XIST2, the converter transfers different values to the higher-level control
system:

(QFRGHU 1R
SDUNHG"

<HV (QFRGHU 1R
IDXOW"

<HV 5HIHUHQ 1R
FLQJ"

<HV

*[B;,67  *[B;,67 IDXOW *[B;,67  *[B;,67 

FRGH UHTXHVWHGYDOXH SRVLWLRQDFWXDO
YDOXH

Encoder x parked Gx_ZSW.14 = 1

Encoder fault x Gx_ZSW.15 = 1
Referencing encoder x Gx_ZSW.4 = 1 or Gx_ZSW.5 = 1 or Gx_ZSW.6 = 1 or Gx_ZSW.7 = 1
Figure 3-14 G1_XIST2 and G2_XIST2

The converter transfers the position values in the same format (encoder pulse number and
fine resolution) the same as G1_XIST1 and G2_XIST1.

Table 3-1 Fault code

No. Explanation Possible cause

1 Encoder fault One or more encoder faults.
Observe the converter message.
2 Zero-mark monitoring ---

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No. Explanation Possible cause

3 Encoder parking canceled Parking was already requested.
4 Search for reference canceled • Encoder has no zero mark (reference mark).
• Reference mark 2, 3 or 4 was requested.
• Switchover to "Flying measurement" was reques‐
ted during search for reference.
• Command "Read value x" requested during search
for reference mark.
• Inconsistent position measured value with dis‐
tance-coded reference marks.
5 Retrieve reference value canceled • More than four values were requested.
• No value requested.
• Requested value is not available.
6 Flying referencing canceled • Reference cam has not been configured
• During "Flying referencing" a changeover was
made to search for reference.
• During "Flying referencing" a request was issued
"Read value x".
7 Retrieve measured value canceled • More than one value was requested.
• No value requested.
• Requested value is not available.
• Encoder is parked.
8 Position actual value transfer canceled • No absolute encoder available.
• Alarm bit in the absolute value protocol set.
3841 Encoder does not support the function ---

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Communication via PROFIBUS and PROFINET
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3.1.5 Extend telegrams and change signal interconnection

Overview
When you have selected a telegram, the converter interconnects the corresponding signals with
the fieldbus interface. Generally, these interconnections are locked so that they cannot be
changed. However, with the appropriate setting in the converter, the telegram can be extended
or even freely interconnected.

Function description

Interconnection of send data and receive data

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31R
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31R
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31R
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 6HQGZRUGSDUDPHWHUQXPEHUGRXEOHZRUG  6HQGZRUGSDUDPHWHUQXPEHUZRUG
 6HQGZRUGYDOXHGRXEOHZRUG  6HQGZRUGYDOXHZRUG
Figure 3-15 Interconnection of the send data

In the converter, the send data are available in the "Word" format (p2051) - and in the
"Double word" format (p2061). If you set a specific telegram, or you change the telegram,
the converter automatically interconnects parameters p2051 and p2061 with the appropriate
signals.

U
5HFHLYHZRUG3=' U>@ U
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5HFHLYHZRUG3=' U>@ U
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Figure 3-16 Interconnection of the receive data

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The converter saves the receive data as follows:

• "Word" format in r2050
• "Double word" format in r2060
• Bit-by-bit in r2090 … r2093

Extending a telegram: Procedure

1. Set p0922 = 999.
2. Set parameter p2079 to the value of the corresponding telegram.
3. Interconnect additional send words and receive words with signals of your choice via
parameters r2050 and p2051.
You have extended a telegram.
❒

Freely interconnecting signals in the telegram: Procedure

1. Set p0922 = 999.
2. Set p2079 = 999.
3. Interconnect additional send words and receive words with signals of your choice via
parameters r2050 and p2051.
You have freely interconnected a telegram.
❒

Example
You wish to extend telegram 1 to 6 send words and 6 receive words. You want to test the
extension by initiating that the converter returns each receive word back to the higher-level
control system.

Procedure
1. p0922 = 999
2. p2079 = 1
3. p2051[2] = r2050[2]
4. …
5. p2051[5] = r2050[5]
6. Test the telegram length for received and sent words:
– r2067[0] = 6
– r2067[1] = 6
You wish to extend telegram 1 to 6 send words and 6 receive words.
❒

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Parameter

Number Name Factory setting

p0922 PROFIdrive PZD telegram selection 1
r2050[0…11] CO: PROFIdrive PZD receive word -
p2051[0…16] CI: PROFIdrive PZD send word 0 or dependent on
the converter
r2053[0…16] PROFIdrive diagnostics send PZD word -
r2060[0…10] CO: PROFIdrive PZD receive double word -
p2061[0…15] CI: PROFIdrive PZD send double word 0
r2063[0…15] PROFIdrive diagnostics PZD send double word -
r2067 PZD maximum interconnected -
[0] Receive (r2050, r2060)
[1] Send (p2051, p2061)
p2079 PROFIdrive PZD telegram selection extended 1
p2080[0…15] BI: Binector-connector converter, status word 1 [0] 899
[1] 899.1
[2] 899.2
[3] 2139.3
[4] 899.4
[5] 899.5
[6] 899.6
[7] 2139.7
[8] 2197.7
[9] 899.9
[10] 2199.1
[11] 1407.7
[12] 0
[13] 2135.14
[14] 2197.3
[15] 2135.15
r2090.0…15 BO: PROFIdrive receive PZD1 bit by bit -
r2091.0…15 BO: PROFIdrive PZD2 receive bit-serial -
r2092.0…15 BO: PROFIdrive PZD3 receive bit-serial -
r2093.0…15 BO: PROFIdrive PZD4 receive bit-serial -

Parameter

Parameter Description
p0922 PROFIdrive telegram selection
999: Free telegram (message frame) configuration

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Parameter Description
p2079 PROFIdrive PZD telegram selection extended
The following values apply if you have still not enabled the "Basic positioner" function in
the converter:
1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
20: Standard telegram 20, PZD-2/6
350: SIEMENS telegram 350, PZD-4/4
352: SIEMENS telegram 352, PZD-6/6
353: SIEMENS telegram 353, PZD-2/2, PKW-4/4
354: SIEMENS telegram 354, PZD-6/6, PKW-4/4
999: Free telegram configuration
The following values apply if you have enabled the "Basic positioner" function in the
converter:
7: Standard telegram 7, PZD-2/2
9: Standard telegram 9, PZD-10/5
110: SIEMENS telegram 110, PZD-12/7
111: SIEMENS telegram 111, PZD-12/12
999: Free telegram configuration
r2050[0…11] PROFIdrive PZD receive word
Received PZD (setpoints) in the word format
p2051[0… PROFIdrive PZD send word
16] Sent PZD (actual values) in the word format

For further information about receive and send words, refer to the function block diagrams 2468
and 2470 in the List Manual.
Overview of the manuals (Page 217)

3.1.6 Data structure of the parameter channel

Overview
The parameter channel allows parameter values to be cyclically read and written to.

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3
0

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Communication via PROFIBUS and PROFINET
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Structure of the parameter channel:

• PKE (1st word)
– Type of task (read or write).
– Bit 11 is reserved and is always assigned 0.
– Parameter number
• IND (2nd word)
– Parameter index
• PWE (3rd and 4th word)
– Parameter value

Function description

AK: Request and response ID

Table 3-2 Request identifiers, control → converter

AK Description Response identifier

positive nega‐
tive
0 No request 0 7/8
1 Request parameter value 1/2 7/8
2 Change parameter value (word) 1 7/8
3 Change parameter value (double word) 2 7/8
4 Request descriptive element 1) 3 7/8
6 2) Request parameter value (field) 1) 4/5 7/8
7 2) Change parameter value (field, word) 1) 4 7/8
8 2)
Change parameter value (field, double word) 1)
5 7/8
9 Request number of field elements 6 7/8
1)
The required element of the parameter is specified in IND (2nd word).
2)
The following request IDs are identical: 1 ≡ 6, 2 ≡ 7 and 3 ≡ 8.
We recommend that you use identifiers 6, 7 and 8.

Table 3-3 Response identifiers, converter → control

AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements

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AK Description
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number to
the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter channel
interface
1)
The required element of the parameter is specified in IND (2nd word).
2)
The required element of the indexed parameter is specified in IND (2nd word).

Table 3-4 Error numbers for response identifier 7

No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be
changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without
permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tempo‐
rary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal
for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be found
in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the converter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter pre‐
vents a parameter change)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within
the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for
the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not available)

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PNU (parameter number) and page index

Parameter number PNU Page index

0000 … 1999 0000 … 1999 0 hex
2000 … 3999 0000 … 1999 80 hex
6000 … 7999 0000 … 1999 90 hex
8000 … 9999 0000 … 1999 20 hex
10000 … 11999 0000 … 1999 A0 hex
20000 … 21999 0000 … 1999 50 hex
30000 … 31999 0000 … 1999 F0 hex
60000 … 61999 0000 … 1999 74 hex

Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.

PWE: Parameter value or connector

Parameter values or connectors can be located in the PWE.

Table 3-5 Parameter value or connector

PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the connec‐
tor

Examples

Read request: Read out serial number of the Power Module (r7841[2])
To obtain the value of indexed parameter r7841, you must fill the parameter channel with
the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)

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• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)

• Because you want to read the parameter value, words 3 and 4 in the parameter channel for
requesting the parameter value are irrelevant. They should be assigned a value of 0, for
example.
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 6XELQGH[ 3DJHLQGH[ 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH

Figure 3-17 Parameter channel for read request from r7841[2]

Write request: Change restart mode (p1210)

The restart mode is inhibited in the factory setting (p1210 = 0). In order to activate the
automatic restart with "acknowledge all faults and restart for an ON command", p1210 must
be set to 26:
• PKE, bit 12 … 15 (AK): = 7 (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 4BA hex (1210 = 4BA hex, no offset, as 1210 < 1999)
• IND, bit 8 … 15 (subindex): = 0 hex (parameter is not indexed)
• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, bit 0 … 15: = 0 hex
• PWE2, Bit 0 … 15: = 1A hex (26 = 1A hex)
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
      
$. 3DUDPHWHUQXPEHU 6XELQGH[ 3DJHLQGH[ 3DUDPHWHUYDOXH ELW 3DUDPHWHUYDOXH ELW
 
Figure 3-18 A parameter channel to activate the automatic restart with p1210 = 26

Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the parameter channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
• IND, bit 8 … 15 (subindex): = 1 hex (CDS1 = Index 1)
• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, Bit 0 … 15: = 2D2 hex (722 = 2D2 hex)

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• PWE2, Bit 10 … 15: = 3F hex (drive object - for SINAMICS G120, always 63 = 3f hex)
• PWE2, Bit 0 … 9: = 2 hex (Index of Parameter (DI 2 = 2))
3DUDPHWHUFKDQQHO
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Figure 3-19 Parameter channel to assign digital input 2 with ON/OFF1

Function description

AK: Request and response ID

Table 3-6 Request identifiers, control → converter

AK Description Response identifier

positive nega‐
tive
0 No request 0 7/8
1 Request parameter value 1/2 7/8
2 Change parameter value (word) 1 7/8
3 Change parameter value (double word) 2 7/8
4 Request descriptive element 1)
3 7/8
6 2)
Request parameter value (field) 1)
4/5 7/8
7 2) Change parameter value (field, word) 1) 4 7/8
8 2)
Change parameter value (field, double word) 1)
5 7/8
9 Request number of field elements 6 7/8
1)
The required element of the parameter is specified in IND (2nd word).
2)
The following request IDs are identical: 1 ≡ 6, 2 ≡ 7 and 3 ≡ 8.
We recommend that you use identifiers 6, 7 and 8.

Table 3-7 Response identifiers, converter → control

AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements

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AK Description
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number to
the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter channel
interface
1)
The required element of the parameter is specified in IND (2nd word).
2)
The required element of the indexed parameter is specified in IND (2nd word).

Table 3-8 Error numbers for response identifier 7

No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be
changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without
permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tempo‐
rary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal
for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be found
in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the conerter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter pre‐
vents a parameter change)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within
the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for
the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not available)

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PNU (parameter number) and page index

Parameter number PNU Page index

0000 … 1999 0000 … 1999 0 hex
2000 … 3999 0000 … 1999 80 hex
6000 … 7999 0000 … 1999 90 hex
8000 … 9999 0000 … 1999 20 hex
10000 … 11999 0000 … 1999 A0 hex
20000 … 21999 0000 … 1999 50 hex
29000 … 29999 0000 … 1999 70 hex
30000 … 31999 0000 … 1999 F0 hex
60000 … 61999 0000 … 1999 74 hex

Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.

PWE: Parameter value or connector

Parameter values or connectors can be located in the PWE.

Table 3-9 Parameter value or connector

PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the connec‐
tor

Examples

Read request: Read out serial number of the Power Module (r7841[2])
To obtain the value of the indexed parameter r7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (page index): = 2 (index of parameter)

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 Communication via PROFIBUS and PROFINET
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• IND, bit 0 … 7 (subindex): = 90 hex (offset 6000 corresponds to 90 hex)

• Because you want to read the parameter value, words 3 and 4 in the parameter channel for
requesting the parameter value are irrelevant. They should be assigned a value of 0, for
example.
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 3DJHLQGH[ 6XELQGH[ 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH

Figure 3-20 Telegram for a read request from r7841[2]

PNU (parameter number) and page index

Parameter number PNU Page index

0000 … 1999 0000 … 1999 0 hex
2000 … 3999 0000 … 1999 80 hex
6000 … 7999 0000 … 1999 90 hex
8000 … 9999 0000 … 1999 20 hex
10000 … 11999 0000 … 1999 A0 hex
20000 … 21999 0000 … 1999 50 hex
30000 … 31999 0000 … 1999 F0 hex
60000 … 61999 0000 … 1999 74 hex

Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.

PWE: Parameter value or connector

Parameter values or connectors can be located in the PWE.

Table 3-10 Parameter value or connector

PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the connec‐
tor

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Communication via PROFIBUS and PROFINET
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3.1.6.1 Application examples

Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (subindex): = 2 (index of parameter)
• IND, bit 0 … 7 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel for
requesting the parameter value are irrelevant. They should be assigned a value of 0, for
example.
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 6XELQGH[ 3DJHLQGH[ 3DUDPHWHUYDOXH 'ULYHREMHFW ,QGH[

Figure 3-21 Telegram for a read request from p7841[2]

Write request: Change restart mode (p1210)

The restart mode is inhibited in the factory setting (p1210 = 0). In order to activate the
automatic restart with "acknowledge all faults and restart for an ON command", p1210 must
be set to 26:
• PKE, bit 12 … 15 (AK): = 7 (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 4BA hex (1210 = 4BA hex, no offset, as 1210 < 1999)
• IND, bit 8 … 15 (subindex): = 0 hex (parameter is not indexed)
• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, bit 0 … 15: = 0 hex
• PWE2, Bit 0 … 15: = 1A hex (26 = 1A hex)
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
      
$. 3DUDPHWHUQXPEHU 6XELQGH[ 3DJHLQGH[ 3DUDPHWHUYDOXH ELW 3DUDPHWHUYDOXH ELW
 
Figure 3-22 Telegram, to activate the automatic restart with p1210 = 26

Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must populate the telegram of the
parameter channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)

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 Communication via PROFIBUS and PROFINET
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• IND, bit 8 … 15 (subindex): = 1 hex (CDS1 = Index 1)

• IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• PWE1, Bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
• PWE2, Bit 10 … 15: = 3F hex (drive object - for SINAMICS G120, always 63 = 3f hex)
• PWE2, Bit 0 … 9: = 2 hex (Index of Parameter (DI 2 = 2))
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 6XELQGH[ 3DJHLQGH[ 3DUDPHWHUYDOXH 'ULYH2EMHFW ,QGH[
 
Figure 3-23 Telegram, to assign DI 2 with ON/OFF1

Example

Application example, "Read and write to parameters"

Further information is provided on the Internet:
Reading and writing parameters cyclically via PROFIBUS (https://
support.industry.siemens.com/cs/ww/en/view/29157692)

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3.1.7 Device-to-device communication

"Direct data exchange" is sometimes called "device-to-device communication" or "data exchange
broadcast". Here, devices exchange data without any direct involvement of the master.
Example: A converter uses the actual speed value of another converter as its speed setpoint.

Definitions
• Publisher: Device, which sends data for direct data exchange.
• Subscriber: Device, which receives the data for direct data exchange from the publisher.
• Links and access points define the data that is used for direct data exchange.

Restrictions
• Direct data exchange in the current firmware version is only possible for converters with
PROFIBUS communication.
• A maximum of 12 PZDs are permissible for each drive.
• A maximum of four links are possible from one subscriber to one or several publishers.

Configuring device-to-device communication

Procedure
1. In the control, define:
– Which converters operate as publisher (sender) or subscriber (receiver)?
– Which data or data areas do you use for direct data exchange?
2. In the converter, define:
How does the subscriber process the data transferred using direct data exchange?
You have now configured device-to-device communication.
❒

3.2 PROFIDRIVE profile - Acyclic communication

The converter supports the following types of acyclic communication:
• For PROFIBUS:
acyclic communication via data set 47
• For PROFINET:
acyclic communication via B02E hex and B02F hex
The maximum data length per request is 240 bytes.

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Note
Values in italics
Values in italics in the following tables mean that you have to adjust these values for a specific
request.

Reading parameter values

Table 3-11 Request to read parameters

Data block Byte n Bytes n + 1 n

Header Reference 01 hex ... FF hex 01 hex: Read job 0
01 hex (ID of drive objects, at G120 always = 1) Number of parameters (m) 2
Address, parameter 1 Attribute Number of the indices 4
10 hex: Parameter value 00 hex ... EA hex
20 hex: Parameter description (For parameters without index: 00 hex)
Parameter number 0001 hex ... FFFE hex 6
Number of the 1st index 0000 hex ... FFFE hex 8
(for parameters without index: 0000 hex)
… …
Address, parameter 2 … …
… … …
Address, parameter m … …

Table 3-12 Converter response to a read request

Data block Byte n Bytes n + 1 n

Header Reference (identical to a read request) 01 hex: Converter has executed the read re‐ 0
quest.
81 hex: Converter was not able to completely
execute the read request.
01 hex (ID of drive objects, at G120 always = 1) Number of parameters (m) 2
(identical to the read request)

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Data block Byte n Bytes n + 1 n

Values, parameter 1 Format Number of index values or - for a negative 4
02 hex: Integer8 response - number of error values
03 hex: Integer16
04 hex: Integer32
05 hex: Unsigned8
06 hex: Unsigned16
07 hex: Unsigned32
08 hex: FloatingPoint
0A hex: OctetString
0D hex: TimeDifference
34 hex: TimeOfDay without date indication
35 hex: TimeDifference with date indication
36 hex: TimeDifference without date indication
41 hex: Byte
42 hex: Word
43 hex: Double word
44 hex: Error
Value of the 1st index or - for a negative response - error value 1 6
You can find the error values in a table at the end of this section.
… …
Values, parameter 2 …
… …
Values, parameter m …

Changing parameter values

Table 3-13 Request to change parameters

Data block Byte n Bytes n + 1 n

Header Reference 01 hex ... FF hex 02 hex: Change request 0
01 hex (ID of drive objects, at G120 always = 1) Number of parameters (m) 01 hex ... 27 hex 2
Address, parameter 1 10 hex: Parameter value Number of indices 4
00 hex ... EA hex
(00 hex and 01 hex are equivalents)
Parameter number 0001 hex ... FFFF hex 6
Number of the 1st index 0000 hex ... FFFE hex 8
… …
Address, parameter 2 …
… … …
Address, parameter m …

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Data block Byte n Bytes n + 1 n

Values, parameter 1 Format Number of index values
02 hex: Integer 8 00 hex ... EA hex
03 hex: Integer 16
04 hex: Integer 32
05 hex: Unsigned 8
06 hex: Unsigned 16
07 hex: Unsigned 32
08 hex: Floating Point
0A hex: Octet String
0D hex: Time Difference
34 hex: TimeOfDay without date indication
35 hex: TimeDifference with date indication
36 hex: TimeDifference without date indication
41 hex: Byte
42 hex: Word
43 hex: Double word
Value of the 1st index
…
Values, parameter 2 …
… …
Values, parameter m …

Table 3-14 Response, if the converter has executed the change request

Data block Byte n Bytes n + 1 n

Header Reference (identical to a change request) 02 hex (change request successful) 0
01 hex (ID of drive objects, at G120 always = 1) Number of parameters (identical to a change 2
request)

Table 3-15 Response if the converter was not able to completely execute the change request

Data block Byte n Bytes n + 1 n

Header Reference (identical to a change request) 82 hex: (Converter was not able to completely 0
execute the write request)
01 hex (ID of drive objects, at G120 always = 1) Number of parameters (identical to a change 2
request)
Values, parameter 1 Format Number of error values 4
40 hex: Zero (change request for this data block 00 hex
executed)
44 hex: Error (change request for this data block 01 hex or 02 hex
not executed)
Only for "Error" - error value 1 6
You can find the error values in the table at the end of this section.
Only for "Error" - error value 2 8
Error value 2 is either zero, or it contains the number of the first index where the error occurred.
Values, parameter 2 ...

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Data block Byte n Bytes n + 1 n

... … …
Values, parameter m ...

Error values

Table 3-16 Error value in the parameter response

Error Significance
value 1
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a parameter index that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element that cannot be changed)
09 hex Description data not available (access to a description that does not exist, parameter value is available)
0B hex No master control (change request but with no master control)
0F hex Text array does not exist (although the parameter value is available, the request is made to a text array that does
not exist)
11 hex Request cannot be executed due to the operating state (access is not possible for temporary reasons that are not
specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal for other permanent
reasons, i.e. a parameter with defined individual values)
15 hex Response too long (the length of the actual response exceeds the maximum transfer length)
16 hex Illegal parameter address (illegal or unsupported value for attribute, number of elements, parameter number,
subindex or a combination of these)
17 hex Illegal format (change request for an illegal or unsupported format)
18 hex Number of values not consistent (number of values of the parameter data to not match the number of elements
in the parameter address)
19 hex Drive object does not exist (access to a drive object that does not exist)
20 hex Parameter text cannot be changed
21 hex Service is not supported (illegal or not support request ID).
6B hex A change request for a controller that has been enabled is not possible. (The converter rejects the change
request because the motor is switched on. Observe the "Can be changed" parameter attribute (C1, C2, U, T) in the
parameter list.
Manuals and technical support (Page 217)
6C hex Unknown unit.
6E hex Change request is only possible when the motor is being commissioned (p0010 = 3).
6F hex Change request is only possible when the power unit is being commissioned (p0010 = 2).
70 hex Change request is only possible for quick commissioning (basic commissioning) (p0010 = 1).
71 hex Change request is only possible if the converter is ready (p0010 = 0).
72 hex Change request is only possible for a parameter reset (restore to factory setting) (p0010 = 30).

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46 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

Error Significance
value 1
73 hex Change request possible only during commissioning of the safety functions (p0010 = 95).
74 hex Change request is only possible when a technological application/unit is being commissioned (p0010 = 5).
75 hex Change request is only possible in a commissioning state (p0010 ≠ 0).
76 hex Change request is not possible for internal reasons (p0010 = 29).
77 hex Change request is not possible during download.
81 hex Change request is not possible during download.
82 hex Accepting the master control is inhibited via BI: p0806.
83 hex Desired interconnection is not possible (the connector output does not supply a float value although the con‐
nector input requires a float value)
84 hex Converter does not accept a change request (converter is busy with internal calculations. See parameter r3996
in the parameter list.
Manuals and technical support (Page 217)
85 hex No access methods defined.
86 hex Write access only during commissioning of the data records (p0010 = 15) (operating status of the converter
prevents a parameter change.)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within the "absolute" limits,
but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not available)

3.3 PROFIdrive profile - Diagnostic channels

The converters provide the diagnostics standardized for PROFIBUS and PROFINET. This means
that it is possible to directly output faults and alarms at an HMI (control system screen).
Here, PROFINET offers more functions than PROFIBUS
• PROFIBUS: Faults without component assignment
• PROFINET: Faults and alarms with component assignment
The fault and alarm messages are saved in the converter in the following parameters
• r0947[0 … 63]: Fault number
• r2122[0 … 63]: Alarm code
• r3120[0 … 63]: Components which are involved with the fault (only for PROFINET)
• r3121[0 … 63]: Components which are involved with the alarm (only for PROFINET)
The converter transfers the messages in the sequence in which they occurred
The control generates the time stamp when the messages are received

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 47
Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

3.3.1 Diagnostics with PROFINET

PROFINET uses the channel diagnostics to transfer PROFIdrive message classes.

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9000 hex Hardware/software error 900A hex Position/speed actual value incorrect or not avail‐
able
9001 hex Network fault 900B hex Internal (DRIVE-CLiQ) communication error
9002 hex Supply voltage fault 900C hex Infeed faulted
9003 hex DC link overvoltage 900D hex Braking module faulted
9004 hex Power electronics faulted 900E hex Line filter faulted
9005 hex Overtemperature of the electronic components 900F hex External measured value / signal state outside the
permissible range
9006 hex Ground fault / inter-phase short circuit 9010 hex Application / technological function faulted
9007 hex Motor overload 9011 hex Error in the parameterization / configuration /
commissioning procedure
9008 hex Communication error to the higher-level control 9012 hex General drive fault
system
9009 hex Safety monitoring channel has identified an error 9013 hex Auxiliary unit faulted
Figure 3-24 Structure of the channel diagnostics

Reading out diagnostics data

The control requests the diagnostics data from the converter using "Read data set", e.g. using a
read record with index 800C hex.

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48 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

The following rules apply:

• 1 Message block (=ChannelDiagnosisData)
if (one or several) faults of the same message class are detected at the converter
• n message blocks
if at the converter, n faults of different message classes are detected
Further information is provided in the Internet: To access this link, you must be a member of
PROFIBUS and PROFINET International (PI).
PROFINET IO specification (http://www.profibus.com/nc/download/specifications-
standards/downloads/profinet-io-specification/display/)

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 49
Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

3.3.2 Diagnostics with PROFIBUS

The following objects belonging to a diagnostics message in PROFIBUS
• Standard diagnostics
– Sequence: Always at the first position of the message
– Length is always 6 bytes
• Identifier-related diagnostics
– Sequence: At the second, third or fourth position
– Identification using the header,
– For SINAMICS G120, the length is always 2 bytes
• Status messages/module status
– Sequence: At the second, third or fourth position
– Identification using the header
– Length for SINAMICS G120:
- 5 bytes for configuration using GSD
- 6 bytes when configuring using the object library
• Channel-related diagnostics
– Sequence: At the second, third or fourth position
– Identification using the header
– Length is always 3 bytes
• Diagnostics alarm with DS0 / DS1
– Sequence: Always at the last position of the message
– Slot-specific The current state of the slot responsible for the message is transferred.

Note
Precondition for diagnostics via PROFIBUS
The master must operate in the DPV1 mode for diagnostics via PROFIBUS.

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 Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

Standard diagnostics

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The following values are decisive for the diagnostics:

• Ext_Diag: Group signal for diagnostics in the device:
- 0: No fault is active
- 1: At least one alarm or fault is active
• Ext_Diag_Overflow:
Display for the diagnostics overflow in the device (for more than 240 bytes)

Identifier-related diagnostics

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The identifier-related diagnostics provides a bit (KB_n) for each slot allocated when configuring the
device. If a diagnostics message is active at a slot, then its KB_n = 1.
For G120 only one slot is allocated:
• KB_0 when configuring with the GSD
• KB_3 when configuring with the object manager

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Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

Status messages, module status

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For G120, independent of the status, for all slots “00” is always output, i.e. valid user data.

Channel-related diagnostics

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2 Undervoltage 22 Motor overload

3 Overvoltage 23 Commun. with controller faulted
9 Error 24 Safety monit. Detected an error
16 Hardware/software error 25 Act. Position/speed value error
17 Line supply/filter faulted 26 Internal communication faulted
18 DC link overvoltage 27 Infeed faulted
19 Power electronics faulted 28 Braking controller faulted
20 Electronic component overtemp. 29 External signal state error
21 Ground/phase fault detected 30 Application/function faulted
When multiple faults are allocated at one converter with the same message class, then only one message
is displayed.

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 Communication via PROFIBUS and PROFINET
3.3 PROFIdrive profile - Diagnostic channels

Diagnostics alarm with DS0 / DS1

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1) Alarm specifier 4) Module fault

1: Fault is active and the slot is not OK 0: No fault is active
2: Fault is resolved and the slot is OK 1: Fault is active
3: Fault is resolved and the slot is not OK
2) Channel fault present 5) Channel information present
0: No fault is active 1: DS1 exists
1: Fault is active
3) Internal fault 6) Type of class module = 0011 (dis‐
0: No fault is active tributed)
1: Fault is active

A table with the message classes is provided in the List Manual of the converter.
Overview of the manuals (Page 217)

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Communication via PROFIBUS and PROFINET
3.4 Identification & maintenance data (I&M)

3.4 Identification & maintenance data (I&M)

I&M data
The converter supports the following identification and maintenance (I&M) data.

I&M data Format Explanation Associated param‐ Example for the

eters content
I&M0 u8[64] PROFIBUS Converter-specific data, read only - See below
u8[54] PROFINET
I&M1 Visible String [32] Plant/system identifier p8806[0 … 31] "ak12-ne.bo2=fu1"
Visible String [22] Location code p8806[32 … 53] "sc2+or45"
I&M2 Visible String [16] Date p8807[0 … 15] "2013-01-21 16:15"
I&M3 Visible String [54] Any comment p8808[0 … 53] -
I&M4 Octet String[54] Check signature to track changes for Safe‐ p8809[0 … 53] Values of r9781[0]
ty Integrated. and r9782[0]
This value can be changed by the user.
The test signature is reset to the value
generated by the machine if p8805 = 0 is
used.

When requested, the converter transfers its I&M data to a higher-level control or to a PC/PG
with installed STEP 7 or TIA Portal.

I&M0

Designation Format Example for the con‐ Valid for PROFI‐ Valid for PROFI‐
tent NET BUS
Manufacturer-specific u8[10] 00 … 00 hex --- ✓
MANUFACTURER_ID u16 42d hex (=Siemens) ✓ ✓
ORDER_ID Visible String [20] "6SL3246-0BA22-1FA0" ✓ ✓
SERIAL_NUMBER Visible String [16] "T-R32015957" ✓ ✓
HARDWARE_REVISION u16 0001 hex ✓ ✓
SOFTWARE_REVISION char, u8[3] "V" 04.70.19 ✓ ✓
REVISION_COUNTER u16 0000 hex ✓ ✓
PROFILE_ID u16 3A00 hex ✓ ✓
PROFILE_SPECIFIC_TYPE u16 0000 hex ✓ ✓
IM_VERSION u8[2] 01.02 ✓ ✓
IM_SUPPORTED bit[16] 001E hex ✓ ✓

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54 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication via PROFIBUS and PROFINET
3.5 S7 communication

3.5 S7 communication
Communication via the S7 protocol facilitates the following:
• Access to the converter with Startdrive.
• Remote maintenance of the converter with Startdrive across network boundaries.
Remote maintenance across network boundaries (https://
support.industry.siemens.com/cs/ww/en/view/97550333)
• Control of the converter directly via SIMATIC Panels via PROFIBUS or PROFINET without
higher-level control.
Directly accessing a SINAMICS G120 converter from a SIMATIC panel (Page 55)

Note
Number of S7 protocol connections
The converter supports four S7 protocol connections. Two of these are required for Startdrive.
Each of the remaining two are available for access to the converter via SIMATIC Panels.

3.5.1 Directly accessing a SINAMICS G120 converter from a SIMATIC panel

Example of direct access to the converter via a SIMATIC panel

You want to use the SIMATIC panel to do the following:
• Switch the converter on and off
• Enter a setpoint
• Display the actual value and status

Requirements
You have installed the following software packages on your computer and made the following
settings:
• WINCCflex 2008 SP1 or higher
• Startdrive
• You have now configured the converter in Startdrive.
• Converter and panel are connected with one another via PROFIBUS or PROFINET.
• The same baud rates are set in the converter and in the panel.
• The bus address configured in WinCC flexible matches the bus address of the converter.

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Communication via PROFIBUS and PROFINET
3.5 S7 communication

Adjusting settings in the converter

Procedure
1. Make the following settings and enables so that the converter can accept commands
from the panel:
– Set the two signal sources for OFF2 (p0844 and p0845) to 1:
p0844 = 1
p0845 = 1
– Set the two signal sources for OFF3 (p0848 and p0849) to 1:
p0848 = 1
p0849 = 1
– Set the enables for the ramp-function generator:
p1140 = 1
p1141 = 1
– Set the setpoint enable:
p1142 = 1
2. Adjust the parameters for the ON/OFF1 command from the SIMATIC panel
– Set p0840[0] = 2094.0
In doing so, you connect up the ON/OFF1 command using the Bit 0 of the BICO
transformer 2094. The signal source for this parameter is p2099.
– Set p2099[0] = p2900.
In doing so, you give the ON/OFF1 command by setting P2900 = 1 (ON) or 0 (OFF1)
3. Set parameters for the setpoint default
– Set:
p1070 = 1001 (fixed setpoint 1 as setpoint)
p1016 = 1 (direct selection of the speed setpoint)
p1020 = 1 (fixed speed setpoint selection, bit 0)
4. Actual value and status word
No further settings are required on the converter side for displaying the actual speed value
(r0021) and the status word (r0052).
You have now made the settings in the converter.
❒

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 Communication via PROFIBUS and PROFINET
3.5 S7 communication

Settings at the SIMATIC panel

Procedure
1. Configure the connection using WinCC flexible
– Enter a name for the connection
– Set the value in the "Active" column to "On".
– Select "SIMATIC S7 300/400" as the communication driver.
– Set the value in the "Online" column to "On".
2. Make the following settings for the configured connection:
– Select the interface (IF1 B for PROFIBUS, "Ethernet" for PROFINET).
– Set the baud rate for PROFIBUS.
– Assign a bus address (PROFIBUS) or an IP address (PROFINET).
– Select S7ONLINE as the access point.
– If no other control is connected to the converter, select "Only master on bus".
– Select cyclical operation.
3. ON/OFF1:
– Create a variable for the parameter p2900, which refers to the address "Data block 2900
with the data word DBD 0 (data type double word)":
DB2900.DBD 0
You can switch ON/OFF1 on the panel using one or two buttons.
4. Setpoint
– Create a variable for the parameter 1001, which refers to the address "Data block 1001
with the data word DBD 0 (data type real)":
DB1001.DBD 0
You can display it through an I/O field.
5. Actual value display
– Create a variable for the parameter r0021, which refers to the address "Data block 21 with
the data word DBD 0 (data type real)":
DB21.DBD 0
You can display it through an I/O field.
6. Status display
– Create a variable for the parameter r0052, which refers to the address "Data block 52 with
the data word DBW 0 (data type word)":
DB52.DBW 0
You can display it through an I/O field with a binary display, for example.
You have now made the most important settings in the SIMATIC panel.
❒

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Communication via PROFIBUS and PROFINET
3.6 Communication via PROFINET

General information for accessing converter parameters

You must create a variable with the following structure for each parameter that you want to
display or change using the SIMATIC panel: DBX DBY Z
• X: Data block number ≙ Parameter number
• Y: Data type (can be found in the parameter list)
• Z: Data block offset ≙ Parameter index

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Figure 3-25 Accessing converter parameters using a SINAMICS G120 as an example

3.6 Communication via PROFINET

You can either integrate the converter in a PROFINET network or communicate with the
converter via Ethernet.

The converter in PROFINET IO operation

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The converter supports the following functions:

• RT
• IRT: The converter forwards the clock synchronism, but does not support clock synchronism.
• MRP: Media redundancy, impulsed with 200 ms. Precondition: Ring topology
With MRP, you get an uninterrupted switchover if you set the failure monitoring time to a
value > 200 ms.
• MRPD: Media redundancy, bumpless. Precondition: IRT and the ring topology created in the
control

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 Communication via PROFIBUS and PROFINET
3.6 Communication via PROFINET

• Diagnostic alarms in accordance with the error classes specified in the PROFIdrive profile.
• Device replacement without removable data storage medium: The replacement converter is
assigned the device name from the IO controller, not from its memory card or from the
programming device.
• Shared Device for converters that support PROFIsafe.

The converter as Ethernet node

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Further information on PROFINET

Further information on PROFINET can be found on the Internet:
• PROFINET – the Ethernet standard for automation (http://w3.siemens.com/mcms/
automation/en/industrial-communications/profinet/Pages/Default.aspx)
• PROFINET system description (https://support.industry.siemens.com/cs/ww/en/view/
19292127)

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Communication via PROFIBUS and PROFINET
3.6 Communication via PROFINET

3.6.1 Converter with PROFINET interface

The pin assignment and the connectors that you require for your converter are listed in the
following tables.
You can implement either a ring or line-type topology using the two sockets at the converter.
You only require one of the two sockets at the beginning and end of a line.
You can use switches to realize other topologies.

Table 3-17 Assignment table

Converter/Control Unit Connection via

X150 P1/ X03/X04 X03/X04
X150 P2 (RJ45) (M12)
(RJ45)

 
 


G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x

G120C
• G120C PN x

G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
• CU240D-2 PN-F [PP] x
• CU250D-2 PN-F [PP] x

G115D
• G115D PN x
(X150 P1/P2)

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 Communication via PROFIBUS and PROFINET
3.6 Communication via PROFINET

Table 3-18 Connector pin assignments

Signal X150 P1/ X03/X04 X03/X04, X150

X150 P2 (RJ45) P1/P2
(RJ45) (M12)


   


TX- Transmit data - 1 1 1

RX+, Receive data + 3 2 2
TX+ Transmit data + 2 3 3
RX- Receive data - 6 6 4
--- 4 4 ---
--- 5 5 ---
--- 7 7 ---
--- 8 8 ---

Recommended connector
RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 plug 180
can be found on the Internet:
Assembly instructions for the SIMATIC NET Industrial Ethernet FastConnect RJ45 plug
(http://support.automation.siemens.com/WW/view/en/37217116/133300)

3.6.2 Integrating converters into PROFINET

Note
PROFINET interface X150
The network with which interface X150 is connected must be separated from the rest of the
plant network in accordance with the Defense in Depth concept. Manual access to cables and
any open connections must be protected as in a control cabinet.

To connect the converter to a control system via PROFINET, proceed as follows:

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Communication via PROFIBUS and PROFINET
3.6 Communication via PROFINET

Procedure
1. Integrate the converter in the bus system (e.g. ring topology) of the control using PROFINET
cables and the two PROFINET sockets X150-P1 and X150-P2 or X03 and X04.
The position of the sockets is given in the operating instructions for the converter.
Pin assignment: Converter with PROFINET interface (Page 60).
The maximum permitted cable length from the previous station and to the subsequent one
is 100 m.
2. Externally supply the converter with 24 V DC through terminals 31 and 32 or via X01
(X01/X02 with G115D).
The external 24 V supply is only required if communications with the control system should
also operate when the line voltage is switched off.
You have connected the converter to the control using PROFINET.

3.6.3 PROFINET IO operation

3.6.3.1 What do you have to set for communication via PROFINET?

Check the communication settings using the following table. If you answer "Yes" to these
questions, you have correctly set the communication settings and can control the converter via
the fieldbus.

Questions Answer/description
Is the converter correctly connected to the bus network? Integrating converters into PROFINET (Page 61)
Do the IP address and device name in the converter and Configuring communication to the control (Page 63)
control match?
Is the same telegram set in the converter as in the higher- Setting the telegram in the control
level control?
Are the signals that the converter and the control ex‐ Interconnect signals in the converter in conformance with PROFI‐
change via PROFINET correctly interconnected? drive.
PROFIDRIVE profile - Cyclic communication (Page 13)
PROFIDRIVE profile - Acyclic communication (Page 42)

Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control Unit
with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with G115D). You
can find additional details in the operating instructions for the converter or the Control Unit.

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3.6 Communication via PROFINET

3.6.3.2 Configuring communication to the control

Configuring the communication using SIMATIC S7 control

If the converter is not included in the hardware library, you have the following options:
• Install the current Startdrive version.
• Install the GSDML of the converter using "Options/Manage general station description (GSD)"
in the components catalog.

Configuring the communication using a non-Siemens control

1. Import the device file (GSDML) of the converter into the calculation tool for your control
system.
2. Configure the communication.

Configuring communication with Startdrive

Proceed as follows to make the settings for communication with the control system.
• Activate the following windows in Startdrive: "View/Project tree" and "View/Inspector
window".
• Open the drive in the project tree and double click on "Device configuration".
This opens the dialog in the inspector window for setting the PROFINET interface.
• Click on "Ethernet addresses".
• Enter the appropriate values.

You have configured communication with the control system.

❒

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3.6 Communication via PROFINET

You can enter or read out data directly via the parameter view. To do this, select the
"Communication" parameter group and the "Show advanced parameters" option.

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3.6 Communication via PROFINET

3.6.3.3 Installing GSDML

Procedure
1. Save the GSDML to your PC.
– With Internet access:
GSDML (https://support.industry.siemens.com/cs/ww/en/ps/13222/dl)
– Without Internet access:
Insert a memory card into the converter.
Set p0804 = 12.
The converter writes the GSDML as a zipped file (*.zip) into directory /SIEMENS/SINAMICS/
DATA/CFG on the memory card.
2. Unzip the GSDML file on your computer.
3. Import the GSDML into the engineering system of the controller.
You have now installed the GSDML in the engineering system of the controller.

3.6.3.4 Activating diagnostics via the control

The converter provides the functionality to transmit fault and alarm messages (diagnostic
messages) to the higher-level control according to the PROFIdrive error classes.
The functionality must be selected in the higher-level controller and activated by powering
up.

3.6.4 PROFIenergy

3.6.4.1 Energy-saving mode

Overview
PROFIenergy is a standard based on PROFINET. PROFIenergy is certified and described in the
PROFIenergy profile of the PNO.
The higher-level controller transfers the control commands and status queries in acyclic
operation via data record 80A0 hex.
The converter supports PROFIenergy profile V1.1 and function unit class 3.
G115D, G120 and G120C converters support energy-saving mode 2.
G120D converters support energy-saving mode 1.

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3.6 Communication via PROFINET

Function description
Behavior of the converter with active energy-saving mode 2:
• The converter outputs alarm A08800.
• The RDY LED flashes green: 500 ms on, 3 000 ms off.

• The converter does not send any diagnostic interrupts.

• If the higher-level controller goes to stop or the bus connection to the higher-level controller
is interrupted, the converter exits the energy-saving mode and resumes normal operation.
Behavior of the converter with active energy-saving mode 1:
• The converter switches off the supply voltage for its digital outputs if they are not
interconnected with r5613.x (displays the energy-saving mode) or are being used as safety-
relevant outputs.
• The converter switches off the supply voltage of its encoders unless they are HTL encoders
assigned to the position controller.

Example
You can find an application example for PROFIenergy on the Internet:
PROFIenergy - saving energy with SIMATIC S7 (https://
support.industry.siemens.com/cs/ww/en/view/41986454)

Parameters

Number Name Factory setting

r5600 Pe energy-saving mode ID -
r5613 CO/BO: Pe energy-saving active/inactive -

3.6.4.2 Control commands

Function description

Command Explanation
Start_Pause Switches to the energy-saving mode depending on the pause dura‐
tion.
Start_Pause_with_time_re‐ Switches to the energy-saving mode depending on the pause dura‐
sponse tion and also specifies the transition times in the command response
End_Pause Switches from the energy-saving mode to the operating state.
Cancels switching from the operating state to energy-saving mode.

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3.6 Communication via PROFINET

Settings
• Minimum pause time: p5602
– When the pause time sent using the command "Start_Pause" is equal to or greater than
the value in p5602[1], the converter goes to energy-saving mode.
– If the pause time is less than p5602[1], the converter rejects the command "Start_Pause"
with 50 hex (no appropriate pause mode).
If the controller sends the command "End_Pause" or "Start_Pause" with a pause time of 0, the
motor cannot be switched on. An OFF1/ON command is required to switch the motor on
again.
• Maximum pause time: p5606
• Disable PROFIenergy
If you set p5611.0 = 1, you disable the response of the converter to PROFIenergy control
commands. In this case, the converter rejects the "Start_Pause" command with 50 hex (no
appropriate pause mode).
• Transition to energy-saving mode
– With p5611.2 = 0, you enable the transition to energy-saving mode from operating state
S1 (switching on inhibited) or S2 (ready to switch on).
– With p5611.2 = 1, you enable the transition to energy-saving mode from operating states
S3 (ready for operation) and S4 (operation).
To do this, you must also set the following:
– p5611.1 = 1: With the transition to energy-saving mode, the converter triggers an OFF1
command and enters the switching on inhibited state (S1).
– p5611.1 = 0: You use p5614 to interconnect a signal source that you use to switch off the
converter and place it in switching on inhibited state (S1).

3.6.4.3 Status queries

Function description

Command Explanation
List_Energy_Saving_Modes Returns all supported energy-saving modes
Get_Mode Returns information about the selected energy-saving mode
PEM_Status Returns the current PROFIenergy status
PEM_Status_with_CTTO Returns the current PROFIenergy status together with the regular
transition time to the operating state
PE_ldentify Returns the supported PROFIenergy commands
Query_Version Returns the implemented PROFIenergy profile
Get_Measurement_List Returns the measured value IDs that can be accessed using the
"Get_Measurement_Values" command
Get_Measure‐ Returns the measured value IDs and the associated object number
ment_List_with_object_number that can be accessed using the "Get_Measurement_Values_with_ob‐
ject_number" command.

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3.6 Communication via PROFINET

Command Explanation
Get_Measurement_Values Returns the measured values requested via the measured value ID
Get_Measurement_Val‐ Returns the measured values requested via the measured value ID and
ues_with_object_number the object number. The object number corresponds to the drive ob‐
ject ID.

3.6.4.4 Error values and measured values

Function description

Table 3-19 Error values in the parameter response

Error val‐ Meaning

ue 1
001 hex Invalid Service_Request_ID
03 hex Invalid Modifier
04 hex Invalid Data_Structure_Identifier_RQ
06 hex No PE energy-saving mode supported
07 hex Response too long
08 hex Invalid block header
50 hex No suitable energy-saving mode available
51 hex Time is not supported
52 hex Impermissible PE_Mode_ID
53 hex No switch to energy saving mode because of state operate
54 hex Service or function temporarily not available

Table 3-20 Measured values

PROFIenergy SINAMICS source parameters Value

Measured value Accuracy Uni range
ID Name Do‐ Class t Num‐ Name
main ber
34 Active power 1 12 W r0032 Active power smoothed r2004
166 Power factor 1 12 1 r0038 Power factor smoothed 0…1
200 Active energy im‐ 2 11 Wh r0039[ Energy drawn -
port 1]

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3.6 Communication via PROFINET

3.6.5 The converter with PROFINET interface as Ethernet node.

As default setting, the converter is set for PROFINET IO communication. Alternatively, you have
the option of integrating the converter into an Ethernet network via the PROFINET interface.

This means that from any location in a network, you can use Startdrive to make diagnostic
queries, change parameters or carry out commissioning work.
PROFINET I/O communication is not possible with the converter as Ethernet node.

Integrating a converter into an Ethernet network (assigning an IP address)

Procedure
1. Set p8924 (PN DHCP mode) = 2 or 3
– p8924 = 2
The DHCP server assigns the IP address based on the MAC address of the converter
– p8924 = 3
The DHCP server assigns the IP address based on the device name of the converter
2. Save the settings with p8925 = 2. The next time that the converter switches on, it retrieves
the IP address. After this, you can address the converter as an Ethernet node.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EtherNet/IP command "Set Attribute Single" (class F5 hex, attribute 3).
The following options are available:
• Via an EtherNet/IP controller
• Via an EtherNet/IP commissioning tool

You have now integrated the converter into Ethernet

Displays
r8930: Device name of the converter
r8934: Operating mode, PN or DHCP
r8935: MAC address

Additional options of integrating converters into Ethernet

You also have the option of integrating the converter into Ethernet using Proneta or STEP 7, for
example.
Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can use
to make the required settings.

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3.7 Communication via PROFIBUS

See also
Overview of the manuals (Page 217)

3.7 Communication via PROFIBUS

6,0$7,&6 3& &ODVV0DVWHU

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352),%86'3
6,1$0,&6*
6,1$0,&6*' 6ODYH
6ODYH

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 Communication via PROFIBUS and PROFINET
3.7 Communication via PROFIBUS

The PROFIBUS DP interface has the following functions:

• Cyclic communication
• Acyclic communication
• Diagnostic alarms
General information on PROFIBUS DP can be found in the Internet:
• PROFIBUS information (https://support.industry.siemens.com/cs/ww/en/view/
1971286)
• Installation guidelines of the PNO (http://www.profibus.com/downloads/installation-
guide/)

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Communication via PROFIBUS and PROFINET
3.7 Communication via PROFIBUS

3.7.1 Converters with PROFIBUS interface

You can find the connectors and the connector assignments of the PROFIBUS DP interface in the
following tables.
You can implement a line-type topology using the two connectors at the converter. You can
use switches to realize other topologies.

Table 3-21 Assignment table - connectors

Converter/Control Unit Connection via

X126 X03, on X04, off
(D Sub - socket) (M12) (M12)

 
     

 

G120
• CU230P-2 DP x
• CU240B‑2 DP x
• CU240E-2 DP x
• CU240E-2 DP-F x
• CU250S-2 DP x
G120C
• G120C DP x

G120D
• CU240D-2 DP x x
• CU240D-2 DP-F x x
• CU250D-2 DP-F x x

Table 3-22 Connector pin assignments

Signal X126 X03, on X04, off

(D Sub - socket) (M12) (M12)

 
     

 

Shield, ground connection 1 5 5

--- 2 1 1
RxD/TxD-P, receive and transmit (B/B’) 3 4 4

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3.7 Communication via PROFIBUS

CNTR-P, control signal 4 --- ---

DGND, reference potential for data (C/C’) 5 --- ---
VP, supply voltage 6 --- ---
--- 7 3 3
RxD/TxD-N, receive and transmit (A/A’) 8 2 2
--- 9 --- ---

Recommended PROFIBUS connectors

We recommend connectors with the following article numbers for connecting the PROFIBUS
cable:
• 6GK1500-0FC10
• 6GK1500-0EA02

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3.7 Communication via PROFIBUS

3.7.2 What do you have to set for communication via PROFIBUS?

Configuring PROFIBUS communication

You require the appropriate engineering system to configure PROFIBUS communication in the
PROFIBUS master.
If required, load the GSD file of the converter into the engineering system.
Configuring communication to the control system (Page 75)

Setting the address

Set the address of the PROFIBUS device.
Set the PROFIBUS address (Page 77)

Setting the telegram

Set the same telegram in the converter as in the PROFIBUS master. Interconnect the telegrams
in the control program of the PROFIBUS master with the signals of your choosing.
PROFIDRIVE profile - Cyclic communication (Page 13)

Application examples
You can find application examples for PROFIBUS communication on the Internet:
Controlling the speed of a SINAMICS G110M/G120/G120C/G120D with S7-300/400F
via PROFINET or PROFIBUS, with Safety Integrated (via terminal) and HMI (https://
support.industry.siemens.com/cs/ww/en/view/60441457)
Controlling the speed of a SINAMICS G110M / G120 (Startdrive) with S7-1500
(TO) via PROFINET or PROFIBUS, with Safety Integrated (via terminal) and HMI (https://
support.industry.siemens.com/cs/ww/en/view/78788716)

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3.7 Communication via PROFIBUS

3.7.3 Integrating converters into PROFIBUS

To connect the converter to a control system via PROFIBUS DP, proceed as follows:
1. Integrate the converter into the bus system (e.g. line topology) of the control using PROFIBUS
cables.
– Converters with IP20 degree of protection using socket X126
– Converters with IP65 degree of protection (CU240D/CU250D) via X03 and X04
The position of the socket is given in the operating instructions for the converter.
Pin assignment: Converters with PROFIBUS interface (Page 72).
The maximum permitted cable length to the previous station and the subsequent one is
100 m at a baud rate of 12 Mbps. You can achieve a maximum cable length of 400 m by using
a maximum of 3 repeaters.
2. Externally supply the converter with 24 V DC through terminals 31 and 32 or via X01.
The external 24 V supply is only required if communications with the control system should
also operate when the line voltage is switched off.
You have now connected the converter to the control system using PROFIBUS DP.

3.7.4 Configuring communication to the control system

Configure the communication in the control system after you have connected the converter to
the bus.

3.7.4.1 Configuring the communication using SIMATIC S7 control

• If the converter is listed in the component catalog in the TIA Portal, you can configure the
communication in the SIMATIC control.
• If the converter is not listed in the hardware library, you can either install the newest
Startdrive version or install the GSD of the converter via "Extras/GSD-Install file" in HW-Config.

3.7.4.2 Configuring the communication with a third-party control system

If you are working with a third-party control system, you must install the device file (GSD) of the
converter in the control before you configure the communication.
Installing the GSD (Page 76) .
If you have installed the GSD, configure the communication. To do this, follow the
documentation of your control system.

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3.7 Communication via PROFIBUS

3.7.4.3 Installing the GSD

Procedure
1. Save the GSD on your PC using one of the following methods.
– With Internet access:
GSD (http://support.automation.siemens.com/WW/view/en/22339653/133100)
– Without Internet access:
Insert a memory card into the converter.
Set p0804 = 12.
The converter writes the GSD as zipped file (*.zip) into directory /SIEMENS/SINAMICS/
DATA/CFG on the memory card.
2. Unzip the GSD file on your computer.
3. Import the GSD in the engineering system of the controller.
You have now installed the GSD file in the engineering system of the controller.

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3.8 Select telegram

3.7.5 Set the PROFIBUS address

Valid address area: 1 … 125

You have the following options for setting the address:
• Using the address switch on the Control Unit:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 3-28 Address switch with example for bus address 10

The address switch has priority over the other settings.

• With a commissioning tool, e.g. an operator panel, via parameter p0918 (factory setting:
p0918 = 126).
It is only possible to change p0918 if an invalid address is set in the address switch.
You can find the position of the address switch in the operating instructions for the converter.
Manuals and technical support (Page 217)

Activating the changed bus address

Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒

3.8 Select telegram

Requirement
In the basic commissioning you have selected the control using PROFIBUS or PROFINET.

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3.8 Select telegram

Telegrams for SINAMICS G120 converters

The following table shows all of the telegrams for the G120 converter.
In your converter, you have a list of telegrams for selection that are available for your
particular converter.

Value p0922
1: Standard telegram 1, PZD-2/2 (factory setting, exceptions: CU250D and CU250S)
2: Standard telegramm 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
4: Standard telegram 4, PZD-6/14
7: Standard telegram 7, PZD 2/2 (factory setting CU250D)
9: Standard telegram 9, PZD-10/5
20: Standard telegram 20, PZD-2/6
110: SIEMENS telegram 110, PZD-12/7
112: SIEMENS telegram 111, PZD-12/12
350: SIEMENS telegram 350, PZD-4/4
352: SIEMENS telegram 352, PZD-6/6
353: SIEMENS telegram 353, PZD-2/2, PKW-4/4
354: SIEMENS telegram 354, PZD-6/6, PKW-4/4
999: Free telegram
Extend telegram/change signal interconnection (Page 28) (factory setting,
CU250S)
For further information about telegrams:
PROFIDRIVE profile - Cyclic communication (Page 13).

Telegrams for SINAMICS G115D converters

The list of telegrams for the SINAMICS G115D converters can be found in the G115D operating
instructions. See:
Manuals and technical support (Page 217)

PROFIsafe telegram selection

The settings for the PROFIsafe telegram selection are described in the "Safety Integrated"
Function Manual.

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Communication via EtherNet/IP 4
Overview
EtherNet/IP is real-time Ethernet, and is mainly used in automation technology.
The following options are available for integrating SINAMICS G converters into EtherNet/IP:
• You can use the SINAMICS profile.
• You can use the ODVA AC/DC drive profile.
• You can define the assemblies for the process data using the objects that are supported by the
converter.

See also
Configuring communication (Page 82)
The pin assignment and the connectors that you require for your converter are listed in the
following tables.
You can implement a line-type topology using the two sockets at the converter. You only
require one of the two sockets at the beginning and end of a line.
You can use switches to realize other topologies.

4.1 Converters with Ethernet/IP interface

Table 4-1 Assignment table

Converter/Control Unit Connection via

X150 P1/ X03/X04 X03/X04
X150 P2 (RJ45) (M12)
(RJ45)

 
 


G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x

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4.1 Converters with Ethernet/IP interface

G120C
• G120C PN x

G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
• CU240D-2 PN-F [PP] x
• CU250D-2 PN-F [PP] x

G115D
• G115D PN x
(X150 P1/P2)

Table 4-2 Connector pin assignments

Signal X150 P1/ X03/X04 X03/X04, X150

X150 P2 (RJ45) P1/P2
(RJ45) (M12)


   


TX- Transmit data - 1 1 1

RX+, Receive data + 3 2 2
TX+ Transmit data + 2 3 3
RX- Receive data - 6 6 4
--- 4 4 ---
--- 5 5 ---
--- 7 7 ---
--- 8 8 ---

Recommended connector
RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 plug 180
can be found on the Internet:
Assembly instructions for the SIMATIC NET Industrial Ethernet FastConnect RJ45 plug
(https://support.industry.siemens.com/cs/ww/en/ps/15251/man)

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4.3 What do you need for communication via EtherNet/IP?

4.2 Connect converter to EtherNet/IP

Overview
To connect the converter to a control system via Ethernet, proceed as follows:

Procedure
1. Connect the converter to the control system via an Ethernet cable.
2. Create an object for data exchange.
You have the following options:
– Load the EDS file into your controller if you want to use the ODVA profile.
You can find the EDS file on the Internet:
EDS (https://support.industry.siemens.com/cs/ww/de/view/78026217)
– If your controller does not accept the EDS file, or if you wish to use the SINAMICS profile,
you must create a generic module in your controller:
Create generic I/O module (Page 97)
You have connected the converter to the control system via EtherNet/IP.
❒

Example
You can find an example showing how to connect a converter to the control system via
Ethernet/IP on the Internet:
Application example (https://support.industry.siemens.com/cs/ww/en/view/82843076)

See also
EtherNet/IP (http://www.odva.org/Home/ODVATECHNOLOGIES/EtherNetIP/EtherNetIPLibrary/
tabid/76/lng/en-US/Default.aspx)
Manuals and technical support (Page 217)

4.3 What do you need for communication via EtherNet/IP?

Check the communication settings using the following questions. If you answer "Yes" to the
questions, you have correctly set the communication settings and can control the converter via
the fieldbus.
• Is the converter correctly connected to the EtherNet/IP?
• Is the EDS file installed in your control system?
• Have the bus interface and IP address been correctly set?
• Have the signals that the converter and the control system exchange been correctly
interconnected?

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4.4 Configuring communication

4.4 Configuring communication

Overview
EtherNet/IP is realtime Ethernet, and is mainly used in automation technology.

Function description
You must set the following parameters to configure the converter communication via
EtherNet/IP:

Procedure
1. p2030 = 10
2. The following parameters must match your EtherNet configuration:
– p8921 = IP address
– p8922 = standard gateway
– p8923 = subnet mask
– p8920 = station name
3. p8925 = 2
4. Select the EtherNet/IP profile:

SINAMICS profile ODVA AC/DC drive profile

p8980 = 0 p8980 = 1
Select the appropriate telegram p0922 = 1: The converter communicates using telegram 1. Other
using p0922. telegrams are not possible. However, when required you can ex‐
PROFIDRIVE profile - Cy‐ tend telegram 1.
clic communication (Page 13) Extend telegrams and change signal interconnection
(Page 28)
When required, set the following parameters:
• p8981
• p8982
• p8983

5. Switch off the converter power supply.

6. Wait until all LEDs on the converter are dark.
7. Switch on the converter power supply again.
You have now configured the converter for communication via EtherNet/IP.
❒

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4.4 Configuring communication

Parameter

Number Name Factory setting

p2030 Fieldbus interface protocol selection Dependent on the
0: no protocol converter
…
10: EtherNet/IP
p8920 PN Name of Station -
p8921 PN IP Address 0
p8922 PN Default Gateway 0
p8923 PN Subnet Mask 0
p8925 Activate PN interface configuration 0
0: No function
1: Reserved
2: Activate the configuration and save
3: Delete configuration
r8931 PN IP Address actual -
r8932 PN Default Gateway actual -
r8933 PN Subnet Mask actual -
p8980 EtherNet/IP profile 0
0: SINAMICS
1: ODVA AC/DC
p8981 EtherNet/IP ODVA STOP mode 0
0: OFF1
1: OFF2
p8982 EtherNet/IP ODVA speed scaling 128
123: 32
124: 16
…
128: 1
129: 0.5
…
133: 0.03125
p8983 EtherNet/IP ODVA torque scaling 128
Values the same as p8982

More information
EtherNet/IP objects and assemblies of the converter:
Supported objects (Page 84)

See also
Overview of the manuals (Page 217)

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4.5 Supported objects

4.5 Supported objects

Overview

Object class Object name Objects re‐ ODVA objects SINAMICS ob‐
hex dec quired jects

1 hex 1 Identity object x

4 hex 4 Assembly Object x
6 hex 6 Connection Manager Object x
28 hex 40 Motor Data Object x
29 hex 41 Supervisor Object x
2A hex 42 Drive Object x
32C hex 812 Siemens Drive Object x
32D hex 813 Siemens Motor Data Object x
F5 hex 245 TCP/IP Interface Object 1) x
F6 hex 246 Ethernet Link Object 1) x
300 hex 768 Stack Diagnostic Object x x
302 hex 770 Adapter Diagnostic Object x x
303 hex 771 Explicit Messages Diagnostic Object x x
304 hex 772 Explicit Message Diagnostic List Object x x
401 hex 1025 Parameter object x x
1)
These objects are part of the EtherNet/IP system management.

Identity Object, Instance Number: 1 hex

Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Reset

Table 4-3 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

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Table 4-4 Instance Attribute

No. Service Type Name Value/explanation

1 get UINT16 Vendor ID 1251
2 get UINT16 Device Type
- ODVA AC Drive 02 hex
- Siemens Drive 12 hex
3 get UINT16 Product code r0964[1]
4 get UINT16 Revision The versions should match the EDS file
5 get UINT16 Status See the following table
6 get UINT32 Serial number bits 0 … 19: consecutive number;
bits 20 … 23: Production identifier
bits 24 … 27: Month of manufacture (0 = Jan, B = Dec)
Bits 28 … 31: Year of manufacture (0 = 2002)
7 get Short Product name Max. length 32 bytes
String

Table 4-5 Explanation of No. 5 of the previous table

Byte Bit Name Description

1 0 Owned 0: Converter is not assigned to any master
1: Converter is assigned to a master
1 Reserved
2 Configured 0: Ethernet/IP basic settings
1: Modified Ethernet/IP settings
For G120, always = 1
3 Reserved
4…7 Extended Device 0: Self-test or status not known
Status 1: Firmware update active
2: At least one I/O connection with error
3: No I/O connections
4: Incorrect configuration in the ROM
5: Fatal fault
6: At least one I/O connection is active
7: All I/O connections in the quiescent state
8 … 15: Reserved
2 8 … 11 Not used
12 … 15 Reserved

Assembly Object, Instance Number: 4 hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

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Table 4-6 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-7 Instance Attribute

No. Service Type Name Value/explanation

3 set Array of Assembly 1 byte array
UINT8 Supported ODVA AC/DC assemblies (Page 96)

Connection Manager Object, Instance Number: 6 hex

Supported services
Class • Get Attribute all Instance • Forward open
• Get Attribute single • Forward close
• Get Attribute single
• Set Attribute single

Table 4-8 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-9 Instance Attribute

No. Service Type Name Value/explanation

1 get UINT16 OpenReqs Counters
2 get UINT16 OpenFormat Rejects Counters
3 get UINT16 OpenResource Rejects Counters
4 get UINT16 OpenOther Rejects Counters
5 get UINT16 CloseReqs Counters
6 get UINT16 CloseFormat Rejects Counters
7 get UINT16 CloseOther Rejects Counters
8 get UINT16 ConnTimeouts Counters
Number of bus errors

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Motor Data Object, Instance Number 28 hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

Table 4-10 Class Attribute

No Serv‐ Type Name

. ice
1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-11 Instance Attribute

No Service Type Name Value/explanation

.
3 get, set USINT Motor Type p0300 motor type, see the following table
6 get, set UINT16 Rated Current p0305 rated motor current
7 get, set UINT16 Rated Voltage p0304 rated motor voltage
8 get, set UINT32 Rated Power p0307 rated motor power
9 get, set UINT16 Rated Frequency p0310 rated motor frequency
10 get, set UINT16 Rated Temperature p0605 motor temperature threshold
11 get, set UINT16 Max Speed p0322 maximum motor speed
12 get, set 1)
UINT16 Pole Count p0314 value of p0314*2
13 get, set 2)
UINT32 Torque Constant p0316 motor torque constant
14 get, set UINT32 Inertia p0341 motor moment of inertia
15 get, set UINT16 Base Speed p0311 motor rated speed
1)
G120C and G120P: Only "get" possible.
2)
G115D: Only "get" possible.

Value in p0300 Ethernet/IP motor data object

0 no motor 0 Non-standard motor
1 Induction motor 7 Squirrel-cage induction motor
2 Synchronous motor 3 PM synchronous motor
10 1LE1 induction motor 7 Squirrel-cage induction motor
13 1LG6 induction motor 7 Squirrel-cage induction motor
17 1LA7 induction motor 7 Squirrel-cage induction motor
19 1LA9 induction motor 7 Squirrel-cage induction motor
100 1LE1 induction motor 7 Squirrel-cage induction motor
104 1PH4 induction motor 3 PM synchronous motor
107 1PH7 induction motor 0 Non-standard motor

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Value in p0300 Ethernet/IP motor data object

108 1PH8 induction motor 5 Switched reluctance motor
200 1PH8 synchronous motor 0 Non-standard motor
204 1LE4 synchronous motor 3 PM synchronous motor
237 1FK7 synchronous motor 0 Non-standard motor
10000 Motor with DRIVE-CLiQ 0 Non-standard motor
10001 Motor with DRIVE-CLiQ 2nd D 0 Non-standard motor

Supervisor Object, Instance Number: 29 hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

Table 4-12 Class Attribute

No Serv‐ Type Name

. ice
1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-13 Instance Attribute

No Serv‐ Type Name Value/explanation

. ice
3 get, set Bool Run1 STW.0 operation, clockwise rotation
5 get, set Bool Net Control Internal
0: Local
1: Network
6 get UINT8 State 0: Vendor Specific
1: Startup
2: Not_Ready
3: Ready
4: Enabled
5: Stopping
6: Fault_Stop
7: Faulted
7 get Bool Running1 ZSW1:2
1: - (Enabled and Run1) or
- (Stopping and Running1) or
- (Fault_Stop and Running1)
0 = Other state

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No Serv‐ Type Name Value/explanation

. ice
9 get Bool Ready ZSW1:0
1: - Ready or
- Enabled or
- Stopping
0 = Other state
10 get Bool Fault ZSW1:3 drive fault
11 get Bool Warning ZSW1:7 alarm active
12 get, set Bool Fault reset STW.7 acknowledge fault
13 get UINT16 Fault Code r945[0] error code
14 get UINT16 Warning Code r2122[0] alarm code
15 get Bool CtlFromNet Display from Net Control
1: Control from network
0: Local control

Drive Object, Instance Number: 2A hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

Table 4-14 Class Attribute

No Serv‐ Type Name

. ice
1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-15 Instance Attribute

No Serv‐ Type Name Value/explanation

. ice
3 get Bool At reference r2197.4 (for G115D: r2197.7)
1: Speed setp - act val deviation in tolerance t_off
0: Otherwise
4 get, set Bool Net_reference Internal
0: Local
1: Network
(for G115D: "get" only)
6 get UINT8 Drive_Mode p1300 manufacturer-specific, see following table
7 get INT Speed Actual Main actual value, see speed units
8 get, set INT Speed Ref Main setpoint, see speed units
9 get INT Current Actual r0027 absolute current actual value, smoothed

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No Serv‐ Type Name Value/explanation

. ice
10 get, INT Current limit p0323 maximum motor current
set1)
15 get INT Power Actual r0032 actual active power smoothed
16 get INT Output voltage r0025 output voltage smoothed
17 get INT Output voltage r0072 output voltage
18 get, set UINT16 AccelTime p1120 ramp-function generator ramp-up time
19 get, set UINT16 DecelTime p1121 ramp-function generator, ramp-down time
20 get, set UINT16 Low Speed Lim p1080 minimum speed
21 get, set UINT16 High Speed Lim p1082 maximum speed
22 get, set SINT Speed Scale p8982 Ethernet/IP ODVA speed scaling
29 get Bool Ref From Net Internal - display of Net_Reference
0: Local
1: Network
1)
G115D: Only "get" possible.

Value in p1300 Ethernet/IP motor data object

0 U/f with linear characteristic 1 Open loop speed (frequency)
1 U/f with linear characteristic and FCC 0 Vendor-specific mode
2 U/f with parabolic characteristic
3 U/f with parameterizable characteristic
4 U/f with linear characteristic and ECO
5 U/f for drives requiring a precise frequency (e.g. in the
textile sector)
6 U/f for drives requiring a precise frequency and FCC
7 U/f for parabolic characteristic and ECO
19 U/f with independent voltage setpoint
20 Speed control (without encoder) 2 Closed-loop speed control
22 Torque control (without encoder) 3 Torque control

Siemens Drive Object, Instance Number: 32C hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

Table 4-16 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

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Table 4-17 Instance Attribute

No. Type Service Name Value/explanation

2 INT16 get, set Commissioning state p0010 commissioning parameter filter
3 … 18 WORD get STW1 STW1 bit-by-bit access:
Attr.3 = STW1.0
Attr.18 = STW1.15
19 WORD get Main setpoint Main setpoint
20 … 35 WORD get ZSW1 ZSW1 bit-by-bit access:
Attr.20 = ZSW1.0
Attr.35 = ZSW1.15
36 WORD get Actual Frequency Main actual value (actual frequency)
37 REAL get, set Ramp Up Time p1120[0] ramp-function generator
ramp-up time
38 REAL get, set Ramp Down Time p1121[0] ramp-function generator
ramp-down time
39 REAL get, set Current Limit p0640[0] current limit
40 REAL get, set Frequency MAX Limit p1082[0] maximum speed
41 REAL get, set Frequency MIN Limit p1080[0] minimum speed
42 REAL get, set OFF3 Ramp Down Time p1135[0] OFF3 ramp-down time
43 UINT32 / get, set PID Enable p2200[0] technology controller enable
BOOL
44 REAL get, set PID Filter Time Constant p2265 technology controller actual val‐
ue filter time constant
45 REAL get, set PID D Gain p2274 technology controller differentia‐
tion time constant
46 REAL get, set PID P Gain p2280 technology controller proportion‐
al gain
47 REAL get, set PID I Gain p2285 technology controller integral
time
48 REAL get, set PID Up Limit p2291 technology controller maximum
limiting
49 REAL get, set PID Down Limit p2292 technology controller minimum
limiting
50 REAL get Speed setpoint r0020 speed setpoint
51 REAL get Output Frequency r0024 output frequency
52 REAL get Output Voltage r0025 output voltage
53 REAL get DC Link Voltage r0026[0] DC-link voltage
54 REAL get Actual Current r0027 current actual value
55 REAL get Actual Torque r0031 torque actual value
56 REAL get Output power r0032 actual active power value
57 REAL get Motor Temperature r0035[0] motor temperature
58 REAL get Power Unit Temperature r0037[0] power unit temperature
59 REAL get Energy kWh r0039 energy display
60 UINT8 get CDS Eff (Local Mode) r0050 active command data set
61 WORD get Status Word 2 r0053 status word 2
62 WORD get Control Word 1 r0054 control word 1

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No. Type Service Name Value/explanation

63 REAL get Motor Speed (Encoder) r0061 actual speed value
64 UINT32 get Digital Inputs r0722 digital inputs status
65 UINT32 get Digital Outputs r0747 digital outputs status
66 REAL get Analog Input 1 r0752[0] analog input 1
67 REAL get Analog Input 2 r0752[1] analog input 2
68 REAL get Analog Output 1 r0774[0] analog output 1
69 REAL get Analog Output 2 r0774[1] analog output 2
70 UINT16 get Fault Code 1 r0947[0] fault number 1
71 UINT16 get Fault Code 2 r0947[1] fault number 2
72 UINT16 get Fault Code 3 r0947[2] fault number 3
73 UINT16 get Fault Code 4 r0947[3] fault number 4
74 UINT16 get Fault Code 5 r0947[4] fault number 5
75 UINT16 get Fault Code 6 r0947[5] fault number 6
76 UINT16 get Fault Code 7 r0947[6] fault number 7
77 UINT16 get Fault Code 8 r0947[7] fault number 8
78 REAL get Pulse Frequency r1801 pulse frequency
79 UINT16 get Alarm Code 1 r2110[0] alarm number 1
80 UINT16 get Alarm Code 2 r2110[1] alarm number 2
81 UINT16 get Alarm Code 3 r2110[2] alarm number 3
82 UINT16 get Alarm Code 4 r2110[3] alarm number 4
83 REAL get PID setpoint Output r2260 technology controller setpoint af‐
ter the ramp-function generator
84 REAL get PID Feedback r2266 technology controller actual value
after the filter
85 REAL get PID Output r2294 technology controller output sig‐
nal

Siemens Motor Data Object, Instance Number: 32D hex

Supported services
Class • Get Attribute single Instance • Get Attribute single
• Set Attribute single

Table 4-18 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

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Table 4-19 Instance Attribute

No. Service Type Name Value/explanation

2 get, set UINT16 Commissioning p0010

state
3 get INT16 Motor Type p0300
6 get, set REAL Rated Current p0305
7 get, set REAL Rated Voltage p0304
8 get, set REAL Rated Power p0307
9 get, set REAL Rated Frequency p0310
10 get, set REAL Rated Tempera‐ p0605
ture
11 get, set REAL Max Speed p0322
12 get, set UINT16 Pole pair number p0314
13 get, set REAL Torque Constant p0316
14 get, set REAL Inertia p0341
15 get, set REAL Base Speed p0311
19 get, set REAL Cos Phi p0308

TCP/IP Interface Object, Instance Number: F5 hex

Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Set Attribute single

Table 4-20 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-21 Instance Attribute

No. Service Type Name Value/explanation

1 get UINT32 Status Fixed value: 1 hex
1: Configuration acknowledged, by DHCP or saved
values
2 get UINT32 Configuration Ca‐ Fixed value: 94 hex
pability 4 hex: DHCP supported
10 hex: Configuration can be adjusted
80 hex: ACD-capable

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No. Service Type Name Value/explanation

3 get, set UINT32 Configuration 1 hex: Saved values
Control 3 hex: DHCP
4 get UINT16 Path Size (in Fixed value: 2 hex
WORDs)
UINT8 Path 20 hex,
F6 hex,
24 hex,
05 hex, where 5 hex is the number of instances of
F6 hex (four physical ports plus one internal port).
5 get, set STRING Interface Configu‐ r61000 Name of Station
UINT32 ration r61001 IP address
6 get, set UINT16 Host Name Host Name Length
STRING
10 get, set UINT8 Select ACD local OM flash:
0: Disabled,
1: Enabled
11 get, set UINT8 Last Conflict De‐ local OM flash ACD Activity
UINT8 tected local OM flash Remote MAC
UINT8 local OM flash ARP PDU

Link Object, Instance Number: F6 hex

Supported services
Class • Get Attribute all Instance • Get Attribute all
• Get Attribute single • Get Attribute single
• Set Attribute single

Table 4-22 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Table 4-23 Instance Attribute

No. Service Type Name Value/explanation

1 get UINT32 Interface Speed 0: link down
10: 10 Mbps
100: 100 Mbps
2 get Interface Flags Bit 1: Link-Status
Bit 2: Duplex Mode (0: Half duplex, 1 duplex)
Bit 3 … 5: Automatic state identification
Bit 6: Reset required
Bit 7: Local hardware fault (0 = ok)

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No. Service Type Name Value/explanation

3 get ARRAY Physical Address r8935 Ethernet MAC address
4 get_and_cl Struct of Interface Counters Optional; required if the Media Counters attribute is implemen‐
ear ted
UINT32 In Octets Received octets
UINT32 In Ucast Packets Received Unicast packets
UINT32 In NUcast Packets Received non-Unicast packets
UINT32 In Discards Incoming packets, not processed
UINT32 In Errors Incoming packets with errors
UINT32 In Unknown Protos Incoming packets with unknown protocol
UINT32 Out Octets Sent octets
UINT32 Out Ucast Packets Sent Unicast packets
UINT32 Out NUcast packets Sent non-Unicast packets
UINT32 Out Discards Outgoing packets, not processed
UINT32 Out Errors Outgoing packets, with errors
5 get_and_cl Struct of Media Counters Media-specific counters
ear UINT32 Alignment Errors Structure received, which does not match the number of octets
UINT32 FCS Errors Structure received, which does not pass the FCS check
UINT32 Single Collisions Structure successfully transmitted, precisely one collision
UINT32 Multiple Collisions Structure successfully transmitted, multiple collisions
UINT32 SQE Test Errors Number of SQE errors
UINT32 Deferred Transmis‐ First transmission attempt delayed
sions
UINT32 Late Collisions Number of collisions that occurred delayed by 512 bit timers to
the request
UINT32 Excessive Collisions Transmission unsuccessful. Reason: Intensive collision
UINT32 MAC Transmit Errors Transmission unsuccessful. Reason: An internal MAC sublayer
receiving error
UINT32 Carrier Sense Errors Times that the carrier sense condition was lost or never asserted
when attempting to transmit a frame
UINT32 Frame Too Long Structure too large
UINT32 MAC Receive Errors Transmit unsuccessful. Reason: An internal MAC sublayer receiv‐
ing error
6 get, set Struct of Interface Control -
UINT16 Control Bits -
UINT16 Forced Interface -
Speed
10 get String Interface_Label Interface-Label

Parameter Object, Instance Number: 401 hex

Supported services
Class • Get Attribute all Instance • Get Attribute all
• Set Attribute single

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4.5 Supported objects

Table 4-24 Class Attribute

No. Service Type Name

1 get UINT16 Revision
2 get UINT16 Max Instance
3 get UINT16 Num of Instances

Cyclic communication is established via parameter object 401.

Example: Read parameter 2050[10] (connector output to interconnect the PZD received
from the fieldbus controller)
Get Attribute single function with the following values:
• Class = 401 hex
• Instance = 2050 = 802 hex corresponds to the parameter number
• Attribute = 10 = A hex corresponds to index 10

Example: Parameter 1520[0] writing (upper torque limit)

Set Attribute single function with the following values:
• Class = 401 hex
• Instance = 1520 = 5F0 hex corresponds to the parameter number
• Attribute = 0 = 0 hex corresponds to index 0
• Data = 500.0 (value)

4.5.1 Supported ODVA AC/DC assemblies

Overview

Number required/ Type Name

hex dec optional

14 hex 20 Required Sending Basic Speed Control Output

46 hex 70 Required Receiving Basic Speed Control Input

Assembly Basic Speed Control, Instance Number: 20, type: Output

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Fault RUN
Reset Forward
1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)

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Assembly Basic Speed Control, Instance Number: 70, type: Input

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Running Faulted
Forward
1
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)

4.6 Create generic I/O module

Overview
For certain controllers, or if you wish to use the SINAMICS profile, you cannot use the EDS file
provided by Siemens. In these cases, you must create a generic I/O module in the control system
for the cyclic communication.

Function description

Procedure
1. In your control, create a generic device with Ethernet/IP functionality.
2. In the control, enter the lengths for the process data for cyclic communication in the new
device which you set in the converter:
r2067[0] (input), r2067[1] (output), e.g.: Standard telegram 2/2
4 ms is supported as the minimum value for RPI (Requested Packet Interval).
3. In the converter, set the same values for IP address, subnet mask, default gateway and name
of the station as in the control.
Configuring communication (Page 82)
You have created a generic I/O module for cyclic communication with the converter.
❒

Further information
You can find a detailed description of how to create a generic I/O module on the Internet:
Generating an EDS file (http://support.automation.siemens.com/WW/view/en/82843076)

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Communication via EtherNet/IP
4.7 The converter as an Ethernet station

4.7 The converter as an Ethernet station

Integrating a converter into an Ethernet network (assigning an IP address)

Procedure
1. Set p8924 (PN DHCP mode) = 2 or 3
– p8924 = 2
The DHCP server assigns the IP address based on the MAC address of the converter
– p8924 = 3
The DHCP server assigns the IP address based on the device name of the converter
2. Save the settings with p8925 = 2. The next time that the converter switches on, it retrieves
the IP address. After this, you can address the converter as an Ethernet node.
Note
Immediate switchover without restart
The switchover to DHCP is performed immediately and without a restart if the change is
carried out with the EtherNet/IP command "Set Attribute Single" (class F5 hex, attribute 3).
The following options are available:
• Via an EtherNet/IP controller
• Via an EtherNet/IP commissioning tool

You have now integrated the converter into Ethernet

Displays
r8930: Device name of the converter
r8934: Operating mode, PN or DHCP
r8935: MAC address

Additional options of integrating converters into Ethernet

You also have the option of integrating the converter into Ethernet using Proneta or STEP 7, for
example.
Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can use
to make the required settings.

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4.7 The converter as an Ethernet station

See also
Overview of the manuals (Page 217)
You can find the required settings for the converter as Ethernet node in section "The converter
with PROFINET interface as Ethernet node. (Page 69)".

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4.7 The converter as an Ethernet station

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Communication via RS485 5
Table 5-1 Assignment table - fieldbus systems via RS485

Converter/Control Unit Fieldbus connection for

USS Modbus BACnet P1
RTU MS/TP
G120
• CU230P-2 ✓ ✓ ✓ ✓
HVAC
• CU230P-2 BT ✓ ✓ ✓ ✓
• CU240B-2 ✓ ✓ --- ---
• CU240E-2 ✓ ✓ --- ---
• CU240E-2 F ✓ ✓ --- ---
• CU250S-2 ✓ ✓ --- ---
G120C
• G120C USS/MB ✓ ✓ --- ---

5.1 Converter with RS485 interface

You can find the connectors and the connector assignments of the RS485 interface in the
following tables.

Table 5-2 Assignment table

Converter/Control Unit Connection via

X128 X03, in X04, out
(M12) (M12)

  
     
 

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Communication via RS485
5.1 Converter with RS485 interface

G120
• CU230P-2 HVAC x
• CU230P-2 BT x
• CU240B-2 x
• CU240E-2 x
• CU240E-2 F x
• CU250S-2 x
G120C
• G120C USS/MB x

Table 5-3 Pin assignment

Signal X128 X03, in X04, out

(M12) (M12)

  
     
 

Not assigned 5 1/3 1/3

RS485N, receive and transmit (-) 3 --- ---
RS485N, receive --- 2 ---
RS485N, transmit (-) --- --- 2
RS485P, receive and transmit (+) 2 --- ---
RS485P, receive --- 4 ---
RS485P, transmit (+) --- --- 4
0 V, reference potential 1 5 5
Cable shield 4 --- ---

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 Communication via RS485
5.3 Communication via USS

5.2 Integrating converters into a bus system via the RS485 interface

Connecting to a network via RS485

Connect the converter to the fieldbus 0DVWHU

via the RS485 interface. %XVWHUPLQDWLQJUHVLVWRU

The RS485 connector has short-circuit 21

proof, isolated pins.
You must switch-in the bus-terminat‐
ing resistor for the first and last nodes. 2))

You can find the position of the RS485

2)) 21
connector and the bus terminating re‐
sistor in the operating instructions for
the converter or the Control Unit.
The precondition for error-free communications is that the first and last station are supplied
with power.
Communications are maintained if you withdraw individual devices from the bus without
interrupting the cable (this is not possible for converters with a high degree of protection).

Communication with the control, even when the line voltage is switched off
So that communication with the control system in your plant or system continues to function
even when the line voltage is switched off, you must externally supply the converter/Control Unit
with 24 V DC. To do this, use terminals 31 and 32 or connector X01 (X01/X02 with G115D). You
can find additional details in the operating instructions for the converter or the Control Unit.

5.3 Communication via USS

The USS protocol is a serial data link between a master and up to a maximum of 31 devices.
A master is, for example:
• A programmable logic controller (e.g. SIMATIC S7-200)
• A PC
The converter is always a device.
The maximum cable length is:
• 1200 m for a baud rate up to 38400 bit/s and maximum of 32 nodes
• 1000 m for a baud rate of 187500 bit/s and a maximum of 30 nodes
Additional information on how to connect the converter to a USS fieldbus: Integrating
converters into a bus system via the RS485 interface (Page 103).

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Communication via RS485
5.3 Communication via USS

5.3.1 Basic settings for communication

Overview
Depending on the converter, the following options are available for setting communication via
the USS:
• For all converters with an RS485 interface:
21 "USS Fieldbus"
• For converters with a CU230P-2 HVAC / CU230P-2 BT
108 "BT Mac 8: USS fieldbus"
For additional information, please refer to the operating instructions of your converter.
Overview of the manuals (Page 217).

Procedure with default setting 21 "USS Fieldbus"

Proceed as follows to set communication via USS:
1. Activate communication via the RS485 interface using one of the following options:
– With Startdrive during commissioning in step "Default setting of setpoint/command
sources":
21: USS fieldbus
– With the BOP-2 during basic commissioning under step "MAc PAr P15":
FB USS
– Via the parameter number:
p0015 = 21
2. Set the bus protocol via p2030:
p2030 = 1
3. Set the converter address.
4. Make additional changes based on the parameters listed in the following section.
5. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now made the settings for communication via USS.

5.3.1.1 Setting the address

Valid address area: 0 … 31

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 Communication via RS485
5.3 Communication via USS

You have the following options for setting the address:

• Using the address switch on the Control Unit:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 5-1 Address switch with example for bus address 10

The address switch has priority over the other settings.

• Using Startdrive or an operator panel via parameter p2021 (default setting: p2021 = 0)
it is only possible to change p2021 if an invalid address is set in the address switch.
If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You can find the position of the address switch in the operating instructions for the converter.
Manuals and technical support (Page 217)

Activating the changed bus address

Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒

5.3.1.2 Parameters to set communication via USS

Fieldbus protocol selection p2030 = 1 (USS)

Baud rate p2020 = 8, 38400 bit/s

Setting range: 2400 bit/s … 187500 bit/s

Fieldbus analog outputs p0791[0 … 1]

Parameter to interconnect the analog outputs for control via the fieldbus

Fieldbus interface USS PZD number p2022 = 2

Setting the number of 16-bit words in the PZD part of the USS telegram
Setting range: 0… 8 (0 … 8 words)

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Communication via RS485
5.3 Communication via USS

Fieldbus interface USS PKW number, p2023 = 127

Setting the number of 16-bit words in the PKW part of the USS telegram
Setting range:
• 0, 3, 4: fixed length with 0, 3 or 4 words
• 127: variable lengths

Fieldbus error statistics r2029

Displaying receive errors at the fieldbus interface

Fieldbus monitoring time p2040 = 100 ms

Setting range: 0 ms … 1999999 ms
The more devices that are connected in the network, the longer the fieldbus monitoring time
must be.
If process data is not transferred within one cycle of the fieldbus monitoring time, then the
converter shuts down with fault F01910.
p2040 = 0 ⇒ bus monitoring deactivated.

5.3.2 Telegram structure

Overview
A USS telegram comprises a series of elements with a defined sequence. Each element contains
11 bits.

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Figure 5-2 Structure of a USS telegram

Telegram part Description

Start delay / response There is always a start / response delay between two telegrams.
delay Telegram monitoring (Page 117)
STX An ASCII character (02 hex) indicates the beginning of the message.
LGE The telegram length "LGE" is calculated as follows:
LGE = user data (n bytes) + ADR (1 byte) + BCC (1 byte)

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 Communication via RS485
5.3 Communication via USS

Telegram part Description

ADR        
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WHOHJUDP WHOHJUDP ELW $GGUHVV

• Bit 7 = 0: Normal data exchange.

Bit 7 =1, to transfer telegrams that require a net data structure different from
the device profile.
• Bit 6 = 0: Normal data exchange.
Bit 6 = 1: Testing the bus connection: The converter returns the telegram
unchanged to the master.
• Bit 5 = 0: Normal data exchange.
(Bit 5 = 1: Not supported in the converter.)
• Bits 0 … 4: Address of the converter.
User data Specify user data of telegram (Page 107).
BCC Checksum (exclusive or) across all telegram bytes – with the exception of BCC.

5.3.3 Specify user data of telegram

Overview
The user data of the telegram consist of the following elements:
• Parameter channel (PIV) for writing and reading parameter values
• Process data (PZD) for controlling the drive
/RJGDWD 3DUDPHWHUFKDQQHO 3,9 3URFHVVGDWD 3='
/RJZRUGV 3.: 3.: 3.: 3.:  3.:P 3=' 3=' 3=' 3='  3='
3,93='VWUXFWXUH 3.( ,1' 3:( 3:(  3:(P 67: +6: 67: 
=6: +,: =6:
3 3 3 3 3 3 3 3 3 3
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Figure 5-3 USS telegram - user data structure

Function description

Parameter channel
You specify the length of the parameter channel in parameter p2023:
• p2023 = 0
With this setting, no parameter values are transferred.
• p2023 = 3
You can select this setting if you only want to read or write 16-bit data or alarm signals.

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Communication via RS485
5.3 Communication via USS

• p2023 = 4:
If you want to read or write 32-bit values (for example indexed parameters or bit parameters,
e.g. r0722.2), then this setting is required. In this case, the send or receive telegram always
contains four words, even if only three would be required. The values are right-justified in the
4th word.
• p2023 = 127:
If you set p2023 = 127 (variable length), the send and response telegrams are exactly as long
as the task requires.

Process data
Parameter p2022 defines the length for the process data. You can transfer up to eight process
data items in one telegram (p2022 = 0 … 8). For p2022 = 0, no process data is transferred.

Parameters

Parameter Description Factory setting

p2022 Fieldbus interface USS PZD number 2
p2023 Fieldbus interface USS PKW number 127

5.3.4 USS parameter channel

Structure of the parameter channel

Depending on the setting in p2023, the parameter channel has a fixed length of three or four
words, or a variable length, depending on the length of the data to be transferred.
1. and 2nd word contain the parameter number and index as well as the type of job
(read or write). The other words of the parameter channel contain parameter contents. The
parameter contents can be 8-bit values, 16-bit values (such as baud rate) or 32-bit values
(e.g. CO parameters). The parameter contents are entered right justified in the word with the
highest number. Words that are not required are assigned 0.
Bit 11 in the 1st word is reserved and is always assigned 0.
The diagram shows a parameter channel that is four words long.

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3
0

You can find examples of telegrams at the end of this section.

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5.3 Communication via USS

Function description

AK: Request and response ID

Table 5-4 Request identifiers, control → converter

AK Description Response identifier

positive nega‐
tive
0 No request 0 7/8
1 Request parameter value 1/2 7/8
2 Change parameter value (word) 1 7/8
3 Change parameter value (double word) 2 7/8
4 Request descriptive element 1) 3 7/8
6 2)
Request parameter value (field) 1)
4/5 7/8
7 2) Change parameter value (field, word) 1) 4 7/8
8 2)
Change parameter value (field, double word) 1)
5 7/8
9 Request number of field elements 6 7/8
1)
The required element of the parameter is specified in IND (2nd word).
2)
The following request IDs are identical: 1 ≡ 6, 2 ≡ 7 and 3 ≡ 8.
We recommend that you use identifiers 6, 7 and 8.

Table 5-5 Response identifiers, converter → control

AK Description
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Converter cannot process the request.
In the most significant word of the parameter channel, the converter sends an error number to
the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the parameter channel
interface
1)
The required element of the parameter is specified in IND (2nd word).
2)
The required element of the indexed parameter is specified in IND (2nd word).

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Communication via RS485
5.3 Communication via USS

Table 5-6 Error numbers for response identifier 7

No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be
changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a subindex that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without
permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for tempo‐
rary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal
for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the converter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be found
in table "Request identifications controller → converter")
6B hex No change access for a controller that is enabled. (The operating state of the conerter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating state of the converter pre‐
vents a parameter change)
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within
the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for
the converter power)
CC hex Change request not permitted (change is not permitted as the access code is not available)

PNU (parameter number) and page index

Parameter number PNU Page index

0000 … 1999 0000 … 1999 0 hex
2000 … 3999 0000 … 1999 80 hex
6000 … 7999 0000 … 1999 90 hex
8000 … 9999 0000 … 1999 20 hex
10000 … 11999 0000 … 1999 A0 hex
20000 … 21999 0000 … 1999 50 hex
29000 … 29999 0000 … 1999 70 hex

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 Communication via RS485
5.3 Communication via USS

Parameter number PNU Page index

30000 … 31999 0000 … 1999 F0 hex
60000 … 61999 0000 … 1999 74 hex

Subindex
For indexed parameters, the parameter index is located in subindex as hexadecimal value.

PWE: Parameter value or connector

Parameter values or connectors can be located in the PWE.

Table 5-7 Parameter value or connector

PWE 1 PWE 2
Parameter value Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Connector Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the connec‐
tor

Examples

Read request: Read out serial number of the Power Module (r7841[2])
To obtain the value of the indexed parameter r7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, Bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, Bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (page index): = 2 (index of parameter)
• IND, bit 0 … 7 (subindex): = 90 hex (offset 6000 corresponds to 90 hex)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel for
requesting the parameter value are irrelevant. They should be assigned a value of 0, for
example.
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 3DJHLQGH[ 6XELQGH[ 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH

Figure 5-4 Telegram for a read request from r7841[2]

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Communication via RS485
5.3 Communication via USS

Parameter number

Parameter numbers < 2000 PNU = parameter number.

Write the parameter number into the PNU (PKE bit 10 ... 0).
Parameter numbers ≥ 2000 PNU = parameter number - offset.
Write the parameter number minus the offset into the PNU (PKE
bit 10 … 0).
Write the offset in the page index (IND bit 15 … 8).

Table 5-8 Offset and page index of the parameter numbers

Parameter num‐ Offset Page index

ber Hex Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
0000 … 1999 0 0 hex 0 0 0 0 0 0 0 0
2000 … 3999 2000 80 hex 1 0 0 0 0 0 0 0
6000 … 7999 6000 90 hex 1 0 0 1 0 0 0 0
8000 … 9999 8000 20 hex 0 0 1 0 0 0 0 0
10000 … 11999 10000 A0 hex 1 0 1 0 0 0 0 0
20000 … 21999 20000 50 hex 0 1 0 1 0 0 0 0
29000 … 29999 28000 70 hex 0 1 1 1 0 0 0 0
30000 … 31999 30000 F0 hex 1 1 1 1 0 0 0 0
60000 … 61999 60000 74 hex 0 1 1 1 0 1 0 0

Indexed parameters
For indexed parameters, you must write the index as hex value into the subindex (IND bit 7 … 0).

Parameter contents
Parameter contents can be parameter values or connector parameters. You require two words
for connector parameters. You can find more information on interconnecting connector
parameters in the operating instructions of the converter in the section "Interconnecting signals
in the converter".

Enter the parameter value in the parameter channel right-justified as follows:

• 8-bit values: Low word, bits bits 8 … 15 are zero.
0 … 7,
• 16-bit values: Low word, bits 0 … 15,
• 32-bit values: Low word and high word
Enter a connector parameter right-justified as follows:
• Number of the connector parameter: High word
• Drive object of the connector parameter: Low word, bits 10 … 15
• The index or bit field number of the connector parameter: Low word, bits 0 … 9

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5.3 Communication via USS

5.3.4.1 Telegram examples, length of the parameter channel = 4

Read request: Read out serial number of the Power Module (r7841[2])
To obtain the value of the indexed parameter r7841, you must fill the telegram of the
parameter channel with the following data:
• PKE, bit 12 … 15 (AK): = 6 (request parameter value (field))
• PKE, bit 0 … 10 (PNU): = 1841 (parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
• IND, bit 8 … 15 (page index): = 90 hex (offset 6000 corresponds to 90 hex)
• IND, bit 0 … 7 (subindex): = 2 (index of parameter)
• Because you want to read the parameter value, words 3 and 4 in the parameter channel for
requesting the parameter value are irrelevant. They should be assigned a value of 0, for
example.
3DUDPHWHUFKDQQHO
3.(VWZRUG ,1'QGZRUG 3:(KLJKUGZRUG 3:(ORZWKZRUG
       
$. 3DUDPHWHUQXPEHU 3DJHLQGH[ 6XELQGH[ 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH 3DUDPHWHUYDOXH

Figure 5-5 Telegram for a read request from r7841[2]

Write request: Changing the automatic restart mode (p1210)

Parameter p1210 defines the automatic restart mode:
• PKE, bit 12 … 15 (AK): = 7 (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 4BA hex (1210 = 4BA hex, no offset, as 1210 < 1999)
• IND, bit 8 … 15 (page index): = 0 hex (offset 0 corresponds to 0 hex)
• IND, bit 0 … 7 (subindex): = 0 hex (parameter is not indexed)
• PWE1, bit 0 … 15: = 0 hex
• PWE2, bit 0 … 15: = 1A hex (26 = 1A hex)
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Figure 5-6 Telegram, to activate the automatic restart with p1210 = 26

Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the telegram of the parameter
channel as follows:
• PKE, bit 12 … 15 (AK): = 7 hex (change parameter value (field, word))
• PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
• IND, bit 8 … 15 (page index): = 0 hex (offset 0 corresponds to 0 hex)

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Communication via RS485
5.3 Communication via USS

• IND, bit 0 … 7 (subindex): = 1 hex (command data set CDS1 = index1)

• PWE1, bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
• PWE2, bit 10 … 15: = 3f hex (drive object - for SINAMICS G120 always 63 = 3f hex)
• PWE2, bit 0 … 9: = 2 hex (index or bit number of the parameter: DI 2 = r0722.2)
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Figure 5-7 Telegram, to assign DI 2 with ON/OFF1

5.3.5 USS process data channel (PZD)

Function description
The process data channel (PZD) contains the following data depending on the transmission
direction:
• Control words and setpoints for the device.
• Status words and actual values for the master.
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Figure 5-8 Process data channel

The first two words are:

• Control 1 (STW1) and main setpoint (HSW)
• Status word 1 (ZSW1) and main actual value (HIW)
If p2022 is greater than or equal to 4, then the converter receives the additional control word
(STW2).

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 Communication via RS485
5.3 Communication via USS

Control word 1 (STW1)

Bit Significance Explanation Signal inter‐

connection
in the con‐
verter
0 0 = OFF1 The motor brakes with the ramp-down time p1121 of p0840[0] =
the ramp-function generator. The converter switches r2090.0
off the motor at standstill.
0 → 1 = ON The converter goes into the "ready" state. If, in addition
bit 3 = 1, then the converter switches on the motor.
1 0 = OFF2 Switch off the motor immediately, the motor then p0844[0] =
coasts down to a standstill. r2090.1
1 = No OFF2 The motor can be switched on (ON command).
2 0 = Quick stop (OFF3) Quick stop: The motor brakes to a standstill with the p0848[0] =
OFF3 ramp-down time p1135. r2090.2
1 = No quick stop (OFF3) The motor can be switched on (ON command).
3 0 = Inhibit operation Immediately switch-off motor (cancel pulses). p0852[0] =
1 = Enable operation Switch-on motor (pulses can be enabled). r2090.3
4 0 = Disable RFG The converter immediately sets its ramp-function gen‐ p1140[0] =
erator output to 0. r2090.4
1 = Do not disable RFG The ramp-function generator can be enabled.
5 0 = Stop RFG The output of the ramp-function generator stops at the p1141[0] =
actual value. r2090.5
1 = Enable RFG The output of the ramp-function generator follows the
setpoint.
6 0 = Inhibit setpoint The converter brakes the motor with the ramp-down p1142[0] =
time p1121 of the ramp-function generator. r2090.6
1 = Enable setpoint Motor accelerates to the setpoint with the ramp-up
time p1120.
7 0 → 1 = Acknowledge Acknowledge fault. If the ON command is still active, p2103[0] =
faults the converter switches to the "switching on inhibited" r2090.7
state.
8, 9 Reserved
10 0 = No control via PLC Converter ignores the process data from the fieldbus. p0854[0] =
1 = Control via PLC Control via fieldbus, converter accepts the process data r2090.10
from the fieldbus.
11 1 = Direction reversal Invert setpoint in the converter. p1113[0] =
r2090.11
12 Reserved
13 1 = MOP up Increase the setpoint saved in the motorized potenti‐ p1035[0] =
ometer. r2090.13
14 1 = MOP down Reduce the setpoint saved in the motorized potentiom‐ p1036[0] =
eter. r2090.14
15 Reserved

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Communication via RS485
5.3 Communication via USS

Status word 1 (ZSW1)

Bit Significance Remarks Signal inter‐

connection
in the con‐
verter
0 1 = Ready for switching Power supply switched on; electronics initialized; pul‐ p2080[0] =
on ses locked. r0899.0
1 1 = Ready Motor is switched on (ON/OFF1 = 1), no fault is active. p2080[1] =
With the command "Enable operation" (STW1.3), the r0899.1
converter switches on the motor.
2 1 = Operation enabled Motor follows setpoint. See control word 1, bit 3. p2080[2] =
r0899.2
3 1 = Fault active The converter has a fault. Acknowledge fault using p2080[3] =
STW1.7. r2139.3
4 1 = OFF2 inactive Coast down to standstill is not active. p2080[4] =
r0899.4
5 1 = OFF3 inactive Quick stop is not active. p2080[5] =
r0899.5
6 1 = Switching on inhibi‐ It is only possible to switch on the motor after an OFF1 p2080[6] =
ted active followed by ON. r0899.6
7 1 = Alarm active Motor remains switched on; no acknowledgement is p2080[7] =
necessary. r2139.7
8 1 = Speed deviation with‐ Setpoint / actual value deviation within the tolerance p2080[8] =
in the tolerance range range. r2197.7
9 1 = Master control re‐ The automation system is requested to accept the con‐ p2080[9] =
quested verter control. r0899.9
10 1 = Comparison speed Speed is greater than or equal to the corresponding p2080[10] =
reached or exceeded maximum speed. r2199.1
11 1 = Torque limit not Fallen below comparison value for current or torque. p2080[11] =
reached r0056.13 /
r1407.7
12 Reserved p2080[12] =
r0899.12
13 0 = Alarm, motor over‐ -- p2080[13] =
temperature r2135.14
14 1 = Motor rotates clock‐ Internal converter actual value > 0. p2080[14] =
wise r2197.3
0 = Motor rotates coun‐ Internal converter actual value < 0.
ter-clockwise
15 0 = Alarm, converter p2080[15] =
thermal overload r2135.15

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 Communication via RS485
5.3 Communication via USS

5.3.6 Telegram monitoring

Function description
You require the telegram runtimes in order to set the telegram monitoring. The character
runtime is the basis of the telegram runtime:

Table 5-9 Character runtime

Baud rate in bit/s Transmission time per bit Character run time (= 11 bits)
9600 104.170 µs 1.146 ms
19200 52.084 µs 0.573 ms
38400 26.042 µs 0.286 ms
57600 17.361 µs 0.191 ms
115200 8.681 µs 0.095 ms

The telegram runtime is longer than just purely adding all of the character runtimes
(=residual runtime). You must also take into consideration the character delay time between
the individual characters of the telegram.

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FRPSUHVVHGWHOHJUDP UHVLGXDOUXQWLPH

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67; /*( $'5    Q %&&

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Figure 5-9 Telegram runtime as the sum of the residual runtime and character delay times

The total telegram runtime is always less than 150% of the pure residual runtime.
Before each request telegram, the master must maintain the start delay. The start delay must
be > 2 × character runtime.
The device only responds after the response delay has expired.

67; /*( $'5   Q %&& 67; /*( 

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WKHPDVWHU
 %&& 67; /*( $'5   Q %&&

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Figure 5-10 Start delay and response delay

Table 5-10 Start delay

Baud rate in bit/s Transmission time per character (= 11 bits) Min. start delay
9600 1.146 ms > 2.291 ms
19200 0.573 ms > 1.146 ms

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5.4 Communication using Modbus RTU

Baud rate in bit/s Transmission time per character (= 11 bits) Min. start delay
38400 0.286 ms > 0.573 ms
57600 0.191 ms > 0.382 ms
115200 0.095 ms > 0.191 ms

The character delay time must be shorter than the start delay.

Telegram monitoring of the master

With your USS master, we recommend that the following times are monitored:
• Response delay:
Response time of the device to a request from the master
The response delay must be < 20 ms, but longer than the start delay
• Telegram runtime:
Transmission time of the response telegram sent from the device

Telegram monitoring of the converter

The converter monitors the time between two requests of the master. Parameter p2040
defines the permissible time in ms. If a time p2040 ≠ 0 is exceeded, then the converter
interprets this as telegram failure and responds with fault F01910.
150% of the residual runtime is the guide value for the setting of p2040, i.e. the telegram
runtime without taking into account the character delay times.
For communication via USS, the converter checks bit 10 of the received control word 1. If the
bit is not set when the motor is switched on ("Operation"), the converter responds with fault
F07220.

Parameters

Parameter Description Factory setting

p2040 Fieldbus interface monitoring time 1 000 ms

5.4 Communication using Modbus RTU

Overview of communication using Modbus

The Modbus protocol is a communication protocol based on a client/server architecture.
Selected parameters and process data are exchanged in a cyclic access via the Modbus register.
Modbus offers three transmission modes:
• Modbus ASCII - via a serial interface
data in the ASCII code. The data throughput is lower compared to RTU.
• Modbus RTU - via a serial interface
data in the binary format. The data throughput is greater than in ASCII code.
• Modbus TCP - via Ethernet
Data are transferred as TCP/IP packages TCP port 502 is reserved for Modbus TCP.

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5.4 Communication using Modbus RTU

General information about communication using Modbus RTU

Communication using Modbus RTU takes place over the RS485 interface with a maximum of 247
devices.
• The maximum cable length is 1200 m.
• To polarize the receive and transmit lines, there are two 100 kΩ resistors, which you can
switch in or switch out using the DIP switch next to the fieldbus interface.

Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit –
is not permissible with this bus system!

5.4.1 Basic settings for communication

Overview
Depending on the converter, the following options are available for setting communication via
the Modbus RTU:
• For all converters with an RS485 interface:
21 "USS Fieldbus"
• For converters with a CU230P-2 HVAC / CU230P-2 BT
109 "BT Mac 9: Modbus RTU Fieldbus"
For additional information, please refer to the operating instructions of your converter.
Overview of the manuals (Page 217).

Procedure with default setting 21 "USS Fieldbus"

Proceed as follows to set communication via Modbus RTU:
1. Activate communication via the RS485 interface using one of the following options:
– With Startdrive during commissioning step "Default setting of setpoint/command
sources":
21: USS fieldbus
– With the BOP-2 during the basic commissioning under step "MAc PAr P15":
FB USS
– Via parameter number:
p0015 = 21
2. Set the bus protocol via p2030:
p2030 = 2
3. Set the converter address.
4. Make additional changes based on the parameters listed in the following section.
5. If you are working with Startdrive, back up the settings so they are not lost if the power fails.

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You have now made the settings for communication via Modbus.

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5.4.1.1 Setting the address

Valid address area: 1 … 247

You have the following options for setting the address:
• Using the address switch on the Control Unit from 1 … 127:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 5-11 Address switch with example for bus address 10

The address switch has priority over the other settings.

• Using Startdrive or an operator panel via parameter p2021 from 1 … 247 (default setting:
p2021 = 1)
Setting via p2021 is only possible if address 0 is set in the address switch.
If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You can find the position of the address switch in the operating instructions for the converter.
Manuals and technical support (Page 217)

Activating the changed bus address

Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒

5.4.1.2 Parameters for setting communication via Modbus RTU

General settings

Fieldbus protocol selection p2030 = 2 (Modbus RTU)

Baud rate p2020 = 7, 19200 bit/s

Setting range: 4800 bit/s … 187500 bit/s

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5.4 Communication using Modbus RTU

Parity
In the factory, the converter is set for controllers with "parity even". You can adapt the parity
at your controller using p2031:
• p2031 = 0: No parity, 1 stop bit or 2 stop bits
• p2031 = 1: Odd parity, 1 stop bit
• p2031 = 2: Even parity, 1 stop bit
• p2031 = 3: No parity, 1 stop bit
Modbus timing p2024[0 … 2]
• p2024[0]: Maximum device telegram processing time:
The time after which the device must have sent a response to the master. 0 ms … 10000 ms,
factory setting = 6000 ms.
• p2024[1]: Character delay time:
Character delay time: Maximum permissible time between the individual characters in the
Modbus frame. (Modbus standard processing time for 1.5 bytes).
• p2024 [2]: Inter-telegram delay:
maximum permissible time between Modbus telegrams. (Modbus standard processing time
for 3.5 bytes).
Values for p2024 [1] and p2024 [2]
Table 5-11 Baud rates, transmission times, and delays (Page 125).

Fieldbus monitoring time p2040 = 1000 ms

Setting range: 0 ms … 1999999 ms
The more devices that are connected in the network, the longer the fieldbus monitoring time
must be.
If process data is not transferred within one cycle of the fieldbus monitoring time, then the
converter shuts down with fault F01910.
p2040 = 0 ⇒ bus monitoring deactivated.

Fieldbus error statistics r2029

Displaying receive errors at the fieldbus interface

Interconnecting analog outputs

If you set communication via Modbus (p2030 = 2), then the analog outputs of the converter are
internally interconnected with the fieldbus analog outputs:
• p0771[0] = 791[0]
• p0771[1] = 791[1].
The values for p0791[0] and p0791[1] are written via registers 40523 and 40524.
Interconnections between parameter p0791 and other sources are rejected.
This means that the control outputs system-specific values via the analog outputs of the
converter.

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5.4 Communication using Modbus RTU

However, if you still wish to display a converter-specific value, you must adapt the
appropriate wiring.

Example
• AO 0 should display the value written via the control with register 40523. In this particular
case, no other settings are required in the converter.
• AO 1 should display the smoothed actual current value. To do this, you must set
p0771[1] = 27 (r0027 smoothed actual current value).
In this case, a write access via register 40524 to p0791[1] results in a fault message in the
control.

Note
Reset to the factory setting for Modbus
If you have set communication via Modbus (p2030 = 2), when restoring the factory settings, the
analog outputs are again interconnected with p0771[0] = 791[0] and p0771[1] = 791[1].

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5.4 Communication using Modbus RTU

5.4.2 Modbus RTU telegram

Description
For Modbus, there is precisely one master and up to 247 devices. The master always starts the
communication. Devices send data when requested to do so by the master. Device-to-device
communication is not possible. The converter always operates as device.
The following figure shows the structure of a Modbus RTU telegram.

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The data area of the telegram is structured according to the mapping tables.

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5.4 Communication using Modbus RTU

5.4.3 Baud rates and mapping tables

Permissible baud rates and telegram delay

The Modbus RTU telegram requires pauses for the following situations:
• for the start identifier
• for separating the individual frames
• for the end identifier
Minimum duration: Processing time for 3.5 bytes (can be set via p2024[2]).
A character delay time is also permitted between the individual bytes of a frame. Maximum
duration: Processing time for 1.5 bytes (can be set via p2024[1]).

Table 5-11 Baud rates, transmission times, and delays

Baud rate in bit/s (p2020) Transmission time per Minimum pause be‐ Maximum pause be‐
character (11 bits) tween two telegrams tween two bytes
(p2024[2]) (p2024[1])
4800 2.292 ms ≥ 8.021 ms ≤ 3.438 ms
9600 1.146 ms ≥ 4.010 ms ≤ 1.719 ms
19200 (factory setting) 0.573 ms ≥ 1.75 ms ≤ 0.859 ms
38400 0.286 ms ≥ 1.75 ms ≤ 0.75 ms
57600 0.191 ms ≥ 1.75 ms ≤ 0.556 ms
76800 0.143 ms ≥ 1.75 ms ≤ 0.417 ms
93750 0.117 ms ≥ 1.75 ms ≤ 0.341 ms
115200 0.095 ms ≥ 1.75 ms ≤ 0.278 ms
187500 0.059 ms ≥ 1.75 ms ≤ 0.171 ms

Note
The factory setting for p2024[1] and p2024[2] is 0. The converter defines the particular values
depending on the protocol selection (p2030) or the baud rate.

Modbus register
The converter supports the subsequently listed registers. Error "Exception Code" is output if an
attempt is made to access other registers.

Note
Read and write access to converter data
R: read via FC03; W: write via FC06; R/W: read via FC03 or write via FC06

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5.4 Communication using Modbus RTU

Table 5-12 Assigning the Modbus registers to the process data

Regis‐ Description Access Scaling Data / parameter

ter
40100 Control word R/W 1 Process data 1
40101 Main setpoint R/W 1 Process data 2
40110 Status word R 1 Process data 1
40111 Main actual value R 1 Process data 2

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5.4 Communication using Modbus RTU

5.4.4 Mapping tables - converter data

Table 5-13 Assigning the Modbus registers to the parameters - inputs and outputs

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
Digital outputs
40200 DO 0 R/W -- 1 HIGH LOW p0730, r747.0, p748.0
40201 DO 1 R/W -- 1 HIGH LOW p0731, r747.1, p748.1
40202 DO 2 R/W -- 1 HIGH LOW p0732, r747.2, p748.2
Analog outputs
40220 AO 0 R % 100 -100.0 … 100.0 r0774.0
40221 AO 1 R % 100 -100.0 … 100.0 r0774.1
40222 AO 2 R % 100 -100.0 … 100.0 r0774.2
40523 AO 0 R/W % 100 -199.99 … 199.99 p0791.0
40524 AO 1 R/W % 100 -199.99 … 199.99 p0791.1
40525 AO 2 R/W % 100 -199.99 … 199.99 p0791.2
Digital inputs
40240 DI 0 R -- 1 HIGH LOW r0722.0
40241 DI 1 R -- 1 HIGH LOW r0722.1
40242 DI 2 R -- 1 HIGH LOW r0722.2
40243 DI 3 R -- 1 HIGH LOW r0722.3
40244 DI 4 R -- 1 HIGH LOW r0722.4
40245 DI 5 R -- 1 HIGH LOW r0722.5
Analog inputs
40260 AI 0 R % 100 -300.0 … 300.0 r0755 [0]
40261 AI 1 R % 100 -300.0 … 300.0 r0755 [1]
40262 AI 2 R % 100 -300.0 … 300.0 r0755 [2]
40263 AI 3 R % 100 -300.0 … 300.0 r0755 [3]

Table 5-14 Assigning the Modbus registers to the parameters - converter data

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40300 Powerstack number R -- 1 0 … 32767 r0200
40301 Converter firmware R -- 1 e.g. 470 r0018 / 10000
40320 Rated power R kW 100 0 … 327.67 r0206
40321 Current limit R/W A 10 10.0 … 400.0 p0640
40322 Ramp-up time R/W s 100 0.00 … 650.0 p1120
40323 Ramp-down time R/W s 100 0.00 … 650.0 p1121
40324 Reference speed R/W RPM 1 6 … 32767 p2000
Converter diagnostics
40340 Speed setpoint R RPM 1 -16250 … 16250 r0020
40341 Actual speed value R RPM 1 -16250 … 16250 r0022

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5.4 Communication using Modbus RTU

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40342 Output frequency R Hz 100 - 327.68 … 327.67 r0024
40343 Output voltage R V 1 0 … 32767 r0025
40344 DC link voltage R V 1 0 … 32767 r0026
40345 Current actual value R A 100 0 … 163.83 r0027
40346 Actual torque value R Nm 100 - 325.00 … 325.00 r0031
40347 Actual active power R kW 100 0 … 327.67 r0032
40348 Energy consumption R kWh 1 0 … 32767 r0039
40349 Control priority R -- 1 HAND AUTO r0807

Table 5-15 Assigning the Modbus registers to the parameters - fault diagnostics

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40400 Failure number, index 0 R -- 1 0 … 32767 r0947 [0]
40401 Failure number, index 1 R -- 1 0 … 32767 r0947 [1]
40402 Failure number, index 2 R -- 1 0 … 32767 r0947 [2]
40403 Fault number, index 3 R -- 1 0 … 32767 r0947 [3]
40404 Fault number, index 4 R -- 1 0 … 32767 r0947 [4]
40405 Fault number, index 5 R -- 1 0 … 32767 r0947 [5]
40406 Fault number, index 6 R -- 1 0 … 32767 r0947 [6]
40407 Fault number, index 7 R -- 1 0 … 32767 r0947 [7]
40408 Alarm number R -- 1 0 … 32767 r2110 [0]
40409 Actual alarm code R -- 1 0 … 32767 r2132
40499 PRM ERROR code R -- 1 0 … 255 --

Table 5-16 Assigning the Modbus registers to the parameters - technology controller

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40500 Technology controller enable R/W -- 1 0…1 p2200, r2349.0
40501 Technology controller MOP R/W % 100 -200.0 … 200.0 p2240
Technology controller adjustment
40510 Time constant for actual value filters of R/W -- 100 0.00 … 60.0 p2265
the technology controller
40511 Scaling factor for actual value of the R/W % 100 0.00 … 500.00 p2269
technology controller
40512 Proportional amplification of the tech‐ R/W -- 1000 0.000 … 65.000 p2280
nology controller
40513 Integral time of the technology control‐ R/W s 1 0 … 60 p2285
ler
40514 Time constant D-component of the tech‐ R/W -- 1 0 … 60 p2274
nology controller

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5.4 Communication using Modbus RTU

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40515 Max. limit of technology controller R/W % 100 -200.0 … 200.0 p2291
40516 Min. limit technology controller R/W % 100 -200.0 … 200.0 p2292

Table 5-17 Assigning the Modbus registers to the parameters - PID diagnostics

Regis‐ Description Ac‐ Unit Scaling ON/OFF text/ Data / parameter

ter cess value range
40520 Effective setpoint acc. to internal tech‐ R % 100 -100.0 … 100.0 r2250
nology controller MOP ramp-function
generator
40521 Actual value of technology controller af‐ R % 100 -100.0 … 100.0 r2266
ter filter
40522 Output signal technology controller R % 100 -100.0 … 100.0 r2294

Table 5-18 Modbus registers for communication via DS47

Regis‐ Description Ac‐ Unit Scaling Data / parameter

ter cess
40601 DS47 Control R/W -- -- --
40602 DS47 header R/W -- -- --
40603 DS47 data 1 R/W -- -- --
… … …
40722 DS47 data 120 R/W -- -- --

Table 5-19 Modbus registers for multi-pump control

Register Last reg‐ Description Ac‐ Unit Scaling ON/OFF text/value Data / parameter
ister cess range
40800 Status word R -- 1 0 … 65535 p29529
40801 Motor index speed control R -- 1 0…3 p29538
40802 Status word, service mode R -- 1 0 … 65535 p29544
40804 40805 Motor 1 operating hours R/W h 10 0 … 429496729.5 p29530[0]
40806 40807 Motor 2 operating hours R/W h 10 0 … 429496729.5 p29530[1]
40808 40809 Motor 3 operating hours R/W h 10 0 … 429496729.5 p29530[2]
40810 40811 Motor 4 operating hours R/W h 10 0 … 429496729.5 p29530[3]

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5.4 Communication using Modbus RTU

5.4.5 Acyclic communication via Modbus RTU

Acyclic communication or general parameter access is realized using the Modbus registers
40601 … 40722.
Acyclic communication is controlled using 40601. 40602 contains the function code (always
= 47 = 2F hex) and the number of the following user data. User data are contained in
registers 40603 … 40722.

Overview of acyclic communication

Value in the register Explanation

40601 40602 40603 … 40722
0 47 … … Write values for acyclic access
1 47 Request Request data Activate acyclic access
length
[bytes]
2 47 Response Response data Response for a successful request
length
[bytes]
2 47 0 Error code Response for an erronous request

Error codes
1 hex: Invalid Length (invalid length)
2 hex: Invalid State (in the current converter state, this action is not permitted)
3 hex: Invalid function code (FC ≠ 2F hex)
4 hex: Response not ready (the response has still not been issued)
5 hex: Internal Error (general system error)
Incorrect access operations to parameters via data set 47 are logged in registers
40603 … 40722.

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5.4.6 Write and read access using function codes

Basic structure of read and write access using function codes

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Function codes used

For data exchange between the master and device, predefined function codes are used for
communication via Modbus.
The converter uses the following Modbus function codes:
• FC 03: Holding register to read data from the converter
• FC 06: Write single register to write to individual register
• FC 16: Write to multiple registers to write to several registers

Structure of a read request via Modbus function code 03 (FC 03)

Any valid register address is permitted as the start address.
Via FC 03, the control can address more than one register with one request. The number of
addressed registers is contained in bytes 4 and 5 of the read request.

Table 5-20 Structure of a read request via device number 17, example

Value Byte Description

11 h 0 Device address
03 h 1 Function code
00 h 2 Register start address "High" (register 40110)
6D h 3 Register start address "Low"
00 h 4 Number of registers "High" (2 registers: 40110; 40111)
02 h 5 number of registers "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"

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5.4 Communication using Modbus RTU

The response returns the corresponding data set:

Table 5-21 Device response to the read request, example

Value Byte Description

11 h 0 Device address
03 h 1 Function code
04 h 2 Number of bytes (4 bytes are returned)
11 h 3 Data first register "High"
22 h 4 Data first register "Low"
33 h 5 Data second register "High"
44 h 6 Data second register "Low"
xx h 7 CRC "Low"
xx h 8 CRC "High"

Table 5-22 Invalid read request

Read request Converter response

Invalid register address Exception code 02 (invalid data address)
Read a write-only register Telegram in which all values are set to 0.
Read a reserved register
Controller addresses more than 125 registers Exception code 03 (invalid data value)
The start address and the number of registers of an Exception code 02 (invalid data address)
address are located outside of a defined register block

Structure of a write request via Modbus function code 06 (FC 06)

Start address is the holding register address.
Via FC 06, with one request, only precisely one register can be addressed. The value, which is
written to the addressed register, is contained in bytes 4 and 5 of the write request.

Table 5-23 Structure of a write request for device number 17, example

Value Byte Description

11 h 0 Device address
06 h 1 Function code
00 h 2 Register start address "High" (write register 40100)
63 h 3 Register start address "Low"
55 h 4 Register data "High"
66 h 5 Register data "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"

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The response returns register address (bytes 2 and 3) and the value (bytes 4 and 5), which
the higher-level control had written to the register.

Table 5-24 Device response to the write request

Value Byte Description

11 h 0 Device address
06 h 1 Function code
00 h 2 Register start address "High"
63 h 3 Register start address "Low"
55 h 4 Register data "High"
66 h 5 Register data "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"

Table 5-25 Invalid write request

Write request Converter response

Incorrect address (a holding register address does not exist) Exception Code 02 - invalid data ad‐
dress
Write to a "read-only" register Exception Code 04 - device failure
Write to a reserved register

For Exception Code 4, via the holding register 40499, you can read out the internal drive
error code, which has occurred for the last parameter access via the holding register.

5.4.7 Acyclically read and write parameter via FC 16

Via FC 16, with one request, up to 122 registers can be written to directly one after the other,
while for Write Single Register (FC 06) you must individually write the header data for each
register.

Header
In addition to the device address, enter the transfer type, the start address and the number of
the following registers in the header.

User data
You control the access in the user data via register 40601.
In register 40602, you define the acyclic access as well as the length of the request data.
Register 40603 contains the request reference - it is defined by the user - and the access type
-reading or writing.
Register 40604 contains the number of the drive object (always 1) and the number of
parameters that are read or written.
Register 40605 contains the attribute that you use to control whether you read out the
parameter value or the parameter attribute. In the number of elements you specify how
many indices are read.

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5.4 Communication using Modbus RTU

See also
PROFIDRIVE profile - Acyclic communication (Page 42)

5.4.7.1 Read parameter

Example: r0002 read acyclically

Table 5-26 Write parameter request: Reading the parameter value of r0002 from device number 17

Value Byte Description

11 h 0 Device address
10 h 1 Function code (write multiple)
0258 h 2,3 Register start address
0007 h 4,5 Number of registers to be read (40601 … 40607)
0E h 6 Number of data bytes (7 registers, each 2 bytes = 14 bytes)
0001 h 7,8 40601: DS47 Control = 1 (activate request)
2F0A h 9,10 40602: Function 2F h (47), request length 10 bytes (0A h)
8001 h 11,12 40603: Request reference = 80 h, request identifier = 1 h
0101 h 13,14 40604: DO-Id = 1, number of parameters = 1
1001 h 15,16 40605: Attribute, number of elements = 1
0002 h 17,18 40606: Parameter number = 2
0000 h 19,20 40607: Subindex = 0
xx h 21 CRC "Low"
xx h 22 CRC "High"

Table 5-27 Start parameter request: Reading the parameter value of r0002 from device number 17

Value Byte Description

11 h 0 Device address
03 h 1 Function code (read)
0258 h 2,3 Register start address
0007 h 4,5 Number of registers to be read (40601 … 40607)
0010 h 6,7 Number of registers
xx h 8 CRC "Low"
xx h 9 CRC "High"

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Table 5-28 Response for successful read operation

Value Byte Description

11 h 0 Device address
03 h 1 Function code (read)
20 h 2 Number of following data bytes (20 h: 32 bytes corresponds to 16 registers)
0002 h 3,4 40601: DS47 Control = 2 (the request was executed)
2F08 h 5,6 40602: Function code 2F h (47), response lengths 8 bytes
8001 h 7,8 40603: Request reference mirrored = 80 h,
response identifier = 1 (request parameter)
0101 h 9,10 40604: DO-ID = 1, number of parameters = 1
0301 h 11,12 40605: Format, number of elements = 1
001F h 13,14 40606: Parameter value = 1F h (31)
xx h 15 CRC "Low"
xx h 16 CRC "High"

Table 5-29 Response for unsuccessful read operation - read request still not completed

Value Byte Description

11 h 0 Device address
03 h 1 Function code (read)
20 h 2 Number of following data bytes (20 h: 32 bytes corresponds to 16 registers)
0001 h 3,4 40601: Check value 1 = request is processed
2F00 h 5,6 40602: Function 2F h(47), response length 0 (fault)
0004 h 7,8 40603: Error code: 0004 Response Not Ready (response has still not been
issued)
xx h 9 CRC "Low"
xx h 10 CRC "High"

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5.4 Communication using Modbus RTU

5.4.7.2 Write parameter

Example: Set p1121 = 12.15

Table 5-30 Write parameter request: Writing the parameter value of p1121 from device number 17

Value Byte Description

11 h 0 Device address
10 h 1 Function code (write multiple)
0258 h 2,3 Register start address
000A h 4,5 Number of registers to be written to (40601 … 40610)
14 h 6 Number of data bytes (10 registers, each 2 bytes = 20 bytes)
0001 h 7,8 40601: C1 (activate request)
2F10 h 9,10 40602: Function 2F h (47), request length 16 bytes (10 h)
8002 h 11,12 40603: Request reference = 80 h, request identifier = 2 h (write)
0101 h 13,14 40604: DO-Id = 1, number of parameters = 1
1001 h 15,16 40605: Attribute, number of elements = 1
0461 h 17,18 40606: Parameter number = 1121
0000 h 19,20 40607: Subindex = 0
0801 h 21,22 40608: Format + number of values
4142 h 23,24 40609: Parameter value 12,15
6666 h 25,26 40610: Parameter value
xx h 27 CRC "Low"
xx h 28 CRC "High"

Table 5-31 Start parameter request: Writing the parameter value of p1121 from device number 17

Value Byte Description

11 h 0 Device address
06 h 1 Function code (write)
0258 h 2,3 Register start address
0007 h 4,5 Number of registers to be written to (40601 … 40610)
0010 h 6,7 Number of registers
xx h 8 CRC "Low"
xx h 9 CRC "High"

Table 5-32 Response for successful write operation

Value Byte Description

11 h 0 Device address
06 h 1 Function code (write)
20 h 2 Number of following data bytes (20 h: 32 bytes corresponds to 16 registers)
0002 h 3,4 40601: DS47 Control = 2 (request was executed)
2F04 h 5,6 40602: Function code 2F h (47), response length 4 bytes
8002 h 7,8 40603: Request reference mirrored = 80 h,
response identifier = 2 (change parameter)
0101 h 9,10 40604: DO-ID = 1, number of parameters = 1
xx h 11 CRC "Low"
xx h 12 CRC "High"

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5.4 Communication using Modbus RTU

Table 5-33 Response for unsuccessful write operation - write request still not completed

Value Byte Description

11 h 0 Device address
06 h 1 Function code (write)
20 h 2 Number of following data bytes (20 h: 32 bytes corresponds to 16 registers)
0001 h 3,4 40601: DS47 Control = 1 (request is processed)
2F00 h 5,6 40602: Function 2F h(47), response length 0 (fault)
0004 h 7,8 40603: Error code: 0004 Response Not Ready (response has still not been
issued)
xx h 9 CRC "Low"
xx h 10 CRC "High"

5.4.8 Communication procedure

Procedure for communication in a normal case

Normally, the master sends a telegram to a device (address range 1 ... 247). The device sends a
response telegram to the master. This response telegram mirrors the function code; the device
enters its own address in the telegram and so the device identifies itself with the master.
The device only processes orders and telegrams which are directly addressed to it.

Communication error
If the device detects a communication error on receipt (parity, CRC), it does not send a response
to the master, since this can lead to "setpoint timeout".

Logical error
If the device detects a logical error within a request, it responds to the master with an "exception
response". In the response, the device sets the highest bit in the function code to 1. If the device
receives, for example, an unsupported function code from the master, the device responds with
an "exception response" with code 01 (Illegal function code).

Table 5-34 Overview of exception codes

Exception Modbus name Remark

code
01 Illegal function code An unknown (unsupported) function code was sent to the
device.
02 Illegal Data Address An invalid address was requested.
03 Illegal data value An invalid data value was detected.
04 Server failure device has terminated during processing.

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Maximum processing time, p2024[0]

The device-response time is the time in which the Modbus master expects a response to a
request. Set the same device-response time (p2024 [0] in the converter) in the master and
device.

Process data monitoring time (setpoint timeout), p2040

"Setpoint timeout" (F1910) is issued by the Modbus if p2040 is set to a value > 0 ms and no
process data is requested within this time period.
The "Setpoint timeout" only applies for access to process data (40100, 40101, 40110,
40111). The "Setpoint timeout" is not generated for parameter data (40200 … 40522).

Note
Adjust the time (factory setting = 100 ms) depending on the number of devices and the baud
rate set on the bus.

5.4.9 Application example

An application example for MODBUS RTU is provided on the Internet:
Communication via the MODBUS interface (https://
support.industry.siemens.com/cs/ww/en/view/35928944)

5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT

BACnet properties
In BACnet, components and systems are considered to be black boxes which contain a number
of objects. BACnet objects only stipulate the behavior outside the device, BACnet sets no internal
functions.
A range of object types and their instances represent one component.
Each BACnet device has precisely one BACnet device object. An NSAP (Network Service
Access Point - comprising network number and MAC address; MAC: Medium Access Control)
uniquely identifies a BACnet device. This address is BACnet-specific and must not be confused
with the Ethernet MAC address.

Data exchange with the client

The converter receives control commands and setpoints via service instructions from the
control and transmits its status back to the control. The converter can also autonomously
send telegrams or execute services, e.g. COV_Notification.

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Communication settings
• The Control Unit supports BACnet via RS485 (BACnet MS/TP),
• Communication supports Unicode, coded with the character set UTF-8
• The maximum cable length is 1200 m (3281 ft).

Protocol Implementation Conformance Statement

The Protocol Implementation Conformance Statement (PICS) is available on the Internet:
PICS (https://support.industry.siemens.com/cs/us/en/view/109760469)

Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit –
is not permissible with this bus system!

5.5.1 Basic settings for communication

Setting communication via BACnet

Procedure
1. Select the default setting 110
– With Startdrive during commissioning step "Default setting of setpoint/command
sources":
110 "BT Mac 10: BACnet MS/TP fieldbus"
– With the BOP-2 during the basic commissioning under step "MAc PAr P15":
P_F bAc
– Via parameter number:
p0015 = 110
2. Set the converter address.
3. Make additional changes based on the parameters listed in the following sections.
4. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now made the settings for communication via BACnet.
❒

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Settings by "BT Mac 10: BACnet MS/TP fieldbus"

Fieldbus protocol selection p2030 = 5

Baud rate p2020 = 8, 38400 bit/s

Setting range: 9600 bit/s … 76800 bit/s

Fieldbus monitoring time p2040 = 1000 ms

Setting range: 0 ms … 1999999 ms
The more devices that are connected in the network, the longer the fieldbus monitoring time
must be.
If process data is not transferred within one cycle of the fieldbus monitoring time, then the
converter shuts down with fault F01910.
p2040 = 0 ⇒ bus monitoring deactivated.

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5.5.1.1 Setting the address

Valid address area: 0 ... 127

With address 0, the converter responds to a broadcast.
You have the following options for setting the BACnet address:
• Using the address switch on the Control Unit:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 5-13 Address switch with example for bus address 10

The address switch has priority over the other settings.

• Using Startdrive or an operator panel via parameter p2021 (default setting: p2021 = 0).
it is only possible to change p2021 if the address switch is set to 0.
If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You can find the position of the address switch in the operating instructions for the converter.
Manuals and technical support (Page 217)

Activating the changed bus address

Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒

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5.5.1.2 Parameters for setting communication via BACnet

General settings

Processing times p2024[0 … 2]

p2024[0]: 0 ms … 10000 ms, maximum processing time (APDU timeout), factory setting =
6000 ms,
p2024 [1 … 2]: Irrelevant

BACnet communication parameter p2025[0 … 3]

• p2025 [0]: 0 … 4194303: Device object instance number,
Factory setting = 1
• p2025 [1]: 1 … 10: Maximum Info Frames, factory setting = 5
• p2025 [2]: 0 … 39: Number of APDU Retries (repeated attempts after fault telegrams),
factory setting = 3
• p2025 [3]: 1 … 127: maximum manager address, factory setting = 32

Setting COV_Increment p2026[0 … 75]

(COV = change of values) 0 … 4194303.000, factory setting = 1. A maximum of 32 COVs are
permissible.
COV_Increment: Changes the value of the "present value" of an object instance for which the
server transfers an UnConfirmedCOV_Notification or ConfirmedCOV_Notification.
You can use these parameters to set the converter value changes for which an
UnConfirmedCOV_Notification or ConfirmedCOV_Notification result is sent.
The factory setting 1 means that the converter sends an UnConfirmedCOV_Notification or
ConfirmedCOV_Notification if the considered value, e.g. for a range of 0 … 10 V, changes by
an absolute value ≥ 1.
This requires an active SubscribeCOV_Service to send the relevant object instance.
You can also set the COV_Increment via the object property "COV_Increment" of the relevant
analog input, analog output or analog value.

BACnet language selection p2027

German/English - only becomes effective after power off/on

Fieldbus error statistics r2029

Displaying receive errors at the fieldbus interface

Device name - default setting, change, restore factory setting

The converter has a device name in BACnet that uniquely identifies the converter.
The device name is preset at initial power up. It has the following structure:

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6,1$0,&6* ;$%

1DPHRIWKH&RQWURO8QLW 6HULDOQXPEHURIWKH
&RQWURO8QLW

p7610[0…79] contains the device names in ASCII format.

Changing device names

You can change the device name either in the converter or via the controller:
• Converter: Change p7610
• Controller: Change the "object-name" property via the Write Property Service

Restoring factory settings

The device name is retained when the factory settings are restored.
If you wish to reset the name to the factory setting, original value, set p7610[0] = NULL
(ASCII-0).

Interconnecting analog outputs, restoring factory settings

If you set communication via BACnet, the converter switches its analog outputs with the
fieldbus.
The control then specifies the values which the converter outputs via its analog outputs.
To display a converter-specific value, you must change the interconnection of the analog
output.
Examples:
• AO 0 should display the value which the control specifies in the ANALOG OUTPUT 0 object.
In this particular case, no other settings are required in the converter.
• AO 1 should display the smoothed current actual value of the converter (r0027 smoothed
current actual value).
Interconnect p0771[1] with r0027: p0771[1] = 27
In this case, write access via the object ANALOG OUTPUT 1 results in an error message in the
control.

Reset to the factory setting for BACnet

When restoring the factory setting, the converter again uses the fieldbus to switch its analog
outputs.

5.5.2 Supported services and objects

BIBBs used by the converter

The BIBBs (BIBB: BACnet Interoperability Building Block) are a collection of one or several BACnet
services. BACnet services are subdivided into A and B devices. An A device operates as client and
a B device as server.

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The converter is a server and therefore operates as B device, as "BACnet Application Specific
Controller" (B-ASC).
It uses the following executed BIBBs.

Overview of the BIBB used and the associated services

Short designation BIBB Service

DS-RP-B Data Sharing-ReadProperty-B ReadProperty
DS-RPM-B Data Sharing-ReadMultipleProperty-B ReadPropertyMultiple
DS-WP-B Data Sharing-WriteProperty-B WriteProperty
DM-DDB-B Device Management-Dynamic Device • Who-Is
Binding-B • I-Am
DM-DOB-B Device Management-Dynamic Object • Who-Has
Binding-B • I-Have
DM-DCC-B Device Management-DeviceCommuni‐ DeviceCommunicationControl
cationControl-B
DS-COV-B Data Sharing-COV-B • SubscribeCOV,
• ConfirmedCOVNotification,
• UnConfirmedCOVNotification

The converter can simultaneously process up to 32 SubscribeCOV services. These can all refer
to the same object instances - or different object instances.
SubscribeCOV monitors the property changes of the following objects:
• Analog Input AI…
• Analog Output AO…
• Analog Value AV…
• Binary Value BV…
• Multi-State Input MSI…

Note
SubscribeCOV services are not retentive; i.e. the manager must re-initiate the SubscribeCOV
services when restarting the converter.

Object types in BACnet

Object type Code digit Object type Code digit

Device Object 8 Analog Output AO… 1
Binary Input BI… 3 Analog Value AV… 2
Binary Output BO… 4 Multi-State Input MSI… 13
Binary Value BV… 5 Octet String Values 47
Analog Input AI… 0

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Object properties of the "Device" object type

• Object_Identifier • Application_Software_Version • APDU_Timeout

• Object_Name • Protocol_Version • Number_Of_APDU_Retries
• Object_Type • Protocol_Revision • Max manager
• System_Status • Protocol_Services_Supported • Max Info Frames
• Vendor_Name • Protocol_Object_Types_Supported • Device Address Binding
• Vendor_Identifier • Object_List • Database Revision
• Model_Name • Max_APDU_Length_Accepted 1)
• Firmware_Revision • Segmentation_Supported 2)
1)
Length = 480, 2) not supported

Properties of the other object types

Property Object type

Binary In‐ Binary Binary Val‐ Analog In‐ Analog Analog Multi- Octet
put BI… Output ue BV… put AI… Output Value AV… State In‐ String val‐
BO… AO… put MSI… ues
Object_Identifier X X X X X X X X
Object_Name X X X X X X X X
Object_Type X X X X X X X X
Present_Value X X X X X X X X
Description X X X X X X X
Status_Flags X X X X X X X X
Event_State X X X X X X X
Out_Of_Service X X X X X X X
Units X X X
Priority_Array X X 1) X X 1)
Relinquish_De‐ X X 1) X X 1)
fault
Polarity X X
Active_Text X X X
Inactive_Text X X X
COV_Increment X X X
State_Text X
Num‐ X
ber_of_States
1)
Only for access type C: Commandable

Note
Language switching
Using parameter p2027, you can switch the language of the BACnet object properties (German,
English). Only the English identifiers (e.g. "Object name") are specified in the following tables.

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Binary Input Objects

In‐ Object name Description Possible val‐ Text active / Access Parameter
stance ues text inactive type
ID
BI0 DI0 ACT State of DI 0 ON/OFF ON/OFF R r0722.0
BI1 DI1 ACT State of DI 1 ON/OFF ON/OFF R r0722.1
BI2 DI2 ACT State of DI 2 ON/OFF ON/OFF R r0722.2
BI3 DI3 ACT State of DI 3 ON/OFF ON/OFF R r0722.3
BI4 DI4 ACT State of DI 4 ON/OFF ON/OFF R r0722.4
BI5 DI5 ACT State of DI 5 ON/OFF ON/OFF R r0722.5
BI7 DI7 ACT State of AI 0 - used as DI 11 ON/OFF ON/OFF R r0722.11
BI8 DI8 ACT State of AI 1 - used as DI 12 ON/OFF ON/OFF R r0722.12
BI10 DO0 ACT State of DO 0 (relay 1) ON/OFF ON/OFF R read r0747.0
BI11 DO1 ACT State of DO 1 (relay 2) ON/OFF ON/OFF R read r0747.1
BI12 DO2 ACT State of DO2 (relay 3) ON/OFF ON/OFF R read r0747.2

Binary Output Objects

In‐ Object name Description Possible val‐ Text active / Access Parameter
stance ues text inactive type
ID
BO0 DO0 CMD Controls DO 0 (relay 1) ON/OFF ON/OFF C p0730
BO1 DO1 CMD Controls DO 1 (relay 2) ON/OFF ON/OFF C p0731
BO2 DO2 CMD Controls DO 2 (relay 3) ON/OFF ON/OFF C p0732

Analog Input Objects

In‐ Object name Description Unit Range Access Parameter

stance type
ID
AI0 ANALOG IN 0 AI0 input signal V/mA Converter-depend‐ R r0752[0]
ent
AI1 ANALOG IN 1 AI1 input signal V/mA Converter-depend‐ R r0752[1]
ent
AI10 AIN 0 SCALED Scaled AI 0 input signal % Converter-depend‐ R r0755[0]
ent
AI11 AIN 1 SCALED Scaled AI 1 input signal % Converter-depend‐ R r0755[1]
ent

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Analog Output Objects

In‐ Object name Description Unit Range Access Parameter

stance type
ID
AO0 ANALOG OUT 0 Value of AO0 % Converter-depend‐ C p0791.0
ent
AO1 ANALOG OUT 1 Value of AO1 % Converter-depend‐ C p0791.1
ent

Binary Value BV…

In‐ Object name Description Possible values Text ac‐ Text in‐ Ac‐ Parameter
stance tive active cess
ID type1)
BV0 RUN STOP‐ Converter status regardless of com‐ RUN / STOP STOP RUN R r0052.2
PED mand source
BV1 FWD REV Direction of rotation regardless of REV / FWD FWD REV R r0052.14
command source
BV2 FAULT ACT Converter fault FAULT / OK FAULT OK R r0052.3
BV3 WARN ACT Converter warning WARN / OK WARN OK R r0052.7
BV4 MANUAL AU‐ Source of Manual/Auto converter AUTO / MANUAL AUTO LOCAL R r0052.9
TO control
BV62) MAINT REQ Maintenance required MAINT/OK MAINT OK R reserved
BV7 HAND CON‐ Control of the converter from the ON/OFF 0 1 R r2032[10]
TROL BACnet override control via BV93
The "Manual" mode of the operator
panel has a higher priority than the
BACnet override control.
BV8 AT SETPOINT Setpoint reached YES / NO YES NO R r0052.8
BV9 AT MAX FREQ Maximum speed reached YES / NO YES NO R r0052.10
BV10 DRIVE READY Converter ready YES / NO YES NO R r0052.1
BV15 HAND RUN‐ Status of the ON command, regard‐ YES / NO 0 1 R r2032[0]
NING less of the source
BV16 HIB MOD ACT Energy saving mode is active ON/OFF 0 1 R r2399[1]
BV17 ESM MOD Essential service mode is active ON/OFF 0 1 R r3889[0]
BV20 RUN STOP ON command for the converter RUN / STOP 0 1 C r0054.0
CMD (when controlling via BACnet)
BV21 FWD REV Reverse direction of rotation (when REV / FWD 0 1 C r0054.11
CMD controlling via BACnet)
BV22 FAULT RESET Acknowledge fault (when control‐ RESET / NO 0 1 C r0054.7
ling via BACnet)
BV24 CDS Changeover drive control Local / Remote YES NO C r0054.15
BV26 RUN ENA Enable converter operation ENA‐ DISA‐ C r0054.3
CMD BLED BLED
BV27 OFF2 Status OFF2 RUN / STOP 0 1 C r0054.1

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In‐ Object name Description Possible values Text ac‐ Text in‐ Ac‐ Parameter
stance tive active cess
ID type1)
BV28 OFF3 Status OFF3 RUN / STOP 0 1 C r0054.2
BV28 sets the r0054.4, r0054.5, and
r0054.6 bits
BV50 ENABLE PID Enable technology controller ENABLED / DISA‐ ENA‐ DISA‐ C p2200
BLED BLED BLED
BV51 ENABLE PID 0 Enable technology controller 0 ENABLED / DISA‐ ENA‐ DISA‐ C p11000
BLED BLED BLED
BV52 ENABLE PID 1 Enable technology controller 1 ENABLED / DISA‐ ENA‐ DISA‐ C p11100
BLED BLED BLED
BV53 ENABLE PID 2 Enable technology controller 2 ENABLED / DISA‐ ENA‐ DISA‐ C p11200
BLED BLED BLED
BV90 LOCAL LOCK Use MANUAL (operator panel) to LOCK UN‐ C p0806
lock converter control LOCK
BV912) LOCK PANEL Interlocking for operator panel and LOCK/UNLO 0 1 W reserved
parameter changes
BV93 CTL OVER‐ Converter control using BACnet over‐ ON/OFF 0 1 C r0054.10
RIDE ride control
1)
C: Commandable, R: Readable, W: Writable
2)
reserved for future functional expansions

Analog Value AV…

In‐ Object name Description Unit Range Access Parameter

stance type1)
ID
AV0 Output frequency (Hz) Hz Converter-depend‐ R r0024
OUT FREQ HZ ent
AV1 OUT FREQ PCT Output frequency (%) % Converter-depend‐ R HIW
ent
AV2 OUTPUT SPEED Motor speed RPM Converter-depend‐ R r0022
ent
AV3 DC BUS VOLT DC-link voltage. V Converter-depend‐ R r0026
ent
AV4 OUTPUT VOLT Output voltage V Converter-depend‐ R r0025
ent
AV5 CURRENT Motor current A Converter-depend‐ R r0027
ent
AV6 TORQUE Motor torque Nm Converter-depend‐ R r0031
ent
AV7 POWER Motor power kW Converter-depend‐ R r0032
ent
AV8 DRIVE TEMP Heat sink temperature °C Converter-depend‐ R r0037
ent
AV9 Measured or calculated motor °C Converter-depend‐ R r0035
MOTOR TEMP temperature ent

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In‐ Object name Description Unit Range Access Parameter

stance type1)
ID
AV10 Cumulative converter energy kWh Converter-depend‐ R r0039
KWH NR consumption (cannot be reset!) ent
AV12 Motor's operating hours (is reset h 0 … 4294967295 W p0650
INV RUN TIME by entering "0")
AV13 Code number of Power Module --- Converter-depend‐ R r0200
INV MODEL ent
AV14 Firmware version --- Converter-depend‐ R r0018
INV FW VER ent
AV15 INV POWER Rated power of the converter kW Converter-depend‐ R r0206
ent
AV16 RPM STPT 1 Reference speed of the converter RPM 6.0 … 210000 W p2000
AV17 FREQ SP PCT Setpoint 1 (when controlling via % -199.99 … 199.99 C HSW
BACnet)
AV18 ACT FAULT Number of the fault due to be --- Converter-depend‐ R r0947[0]
dealt with ent
AV19 PREV FAULT 1 Number of the last fault --- Converter-depend‐ R r0947[1]
ent
AV20 PREV FAULT 2 Number of the fault before last --- Converter-depend‐ R r0947[2]
ent
AV21 PREV FAULT 3 Number of the fault third from --- Converter-depend‐ R r0947[3]
last ent
AV22 PREV FAULT 4 Number of the fault fourth from --- Converter-depend‐ R r0947[4]
last ent
AV25 SEL STPT Command to select the setpoint --- 0 … 32767 W p1000
source
AV28 AO1 ACT Signal from AO 1 mA Converter-depend‐ R r0774.0
ent
AV29 AO2 ACT Signal from AO 1 mA Converter-depend‐ R r0774.1
ent
AV30 MIN Speed Minimum speed RPM 0.000 – 19500.000 W p1080
AV31 MAX Speed Maximum speed RPM 0.000 … 210000.00 W p1082
0
AV32 ACCEL TIME Ramp-up time s 0.00 … 999999.0 W p1120
AV33 DECEL TIME Ramp-down time s 0.00 … 999999.0 W p1121
AV34 Current limit A Converter-depend‐ R p0640
CUR LIM ent
AV39 ACT WARN Indication of a pending alarm --- Converter-depend‐ R r2110[0]
ent
AV40 PREV WARN 1 Indication of the last alarm --- Converter-depend‐ R r2110[1]
ent
AV41 PREV WARN 2 Indication of the last but one --- Converter-depend‐ R r2110[2]
alarm ent
AV5000 RAMP UP TIME Technology controller ramp-up s 0 … 650 W p2257
time
AV5001 RAMP DOWN TIME Technology controller ramp- s 0 … 650 W p2258
down time

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In‐ Object name Description Unit Range Access Parameter

stance type1)
ID
AV5002 Technology controller actual val‐ s 0 … 60 W p2265
FILTER TIME ue filter time constant
AV5003 DIFF TIME Technology controller differentia‐ s 0 … 60 W p2274
tion time constant
AV5004 PROP GAIN Technology controller propor‐ s 0 … 1000 W p2280
tional gain
AV5005 INTEG TIME Technology controller integral s 0 … 1000 W p2285
time
AV5006 OUTPUT MAX Technology controller maximum % - 200 … 200 W p2291
limiting
AV5007 OUTPUT MIN Technology controller minimum % - 200 … 200 W p2292
limiting
AV5100 RAMP UP TIME 0 Technology controller 0 ramp-up s 0 … 650 W p11057
time
AV5101 RAMP DOWN TIME 0 Technology controller 0 ramp- s 0 … 650 W p11058
down time
AV5102 FILTER TIME 0 Technology controller 0 actual s 0 … 60 W p11065
value filter time constant
AV5103 DIFF TIME 0 Technology controller 0 differen‐ s 0 … 60 W p11074
tiation time constant
AV5104 Technology controller 0 propor‐ s 0 … 1000 W p11080
PROP GAIN 0 tional gain
AV5105 INTEG TIME 0 Technology controller 0 integral s 0 … 1000 W p11085
time
AV5106 OUTPUT MAX 0 Technology controller 0 maxi‐ % - 200 … 200 W p11091
mum limiting
AV5107 OUTPUT MIN 0 Technology controller 0 mini‐ % - 200 … 200 W p11092
mum limiting
AV5200 RAMP UP TIME 1 Technology controller 1 ramp-up s 0 … 650 W p11157
time
AV5201 RAMP DOWN TIME 1 Technology controller 1 ramp- s 0 … 650 W p11158
down time
AV5202 FILTER TIME 1 Technology controller 1 actual s 0 … 60 W p11165
value filter time constant
AV5203 DIFF TIME 1 Technology controller 1 differen‐ s 0 … 60 W p11174
tiation time constant
AV5204 PROP GAIN 1 Technology controller 1 propor‐ s 0 … 1000 W p11180
tional gain
AV5205 INTEG TIME 1 Technology controller integral s 0 … 1000 W p11185
time
AV5206 OUTPUT MAX 1 Technology controller 1 maxi‐ % - 200 … 200 W p11191
mum limiting
AV5207 Technology controller 1 mini‐ % - 200 … 200 W p11192
OUTPUT MIN 1 mum limiting
AV5300 RAMP UP TIME 2 Technology controller 2 ramp-up s 0 … 650 W p11257
time

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 Communication via RS485
5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT

In‐ Object name Description Unit Range Access Parameter

stance type1)
ID
AV5301 RAMP DOWN TIME 2 Technology controller 2 ramp- s 0 … 650 W p11258
down time
AV5302 FILTER TIME 2 Technology controller 2 actual s 0 … 60 W p11265
value filter time constant
AV5303 DIFF TIME 2 Technology controller 2 differen‐ s 0 … 60 W p11274
tiation time constants
AV5304 PROP GAIN 2 Technology controller 2 propor‐ s 0 … 1000 W p11280
tional gain
AV5305 INTEG TIME 2 Technology controller 2 integral s 0 … 1000 W p11285
time
AV5306 OUTPUT MAX 2 Technology controller 2 maxi‐ % - 200 … 200 W p11291
mum limiting
AV5307 Technology controller 2 mini‐ % - 200 … 200 W p11292
OUTPUT MIN 2 mum limiting
1)
C: Commandable, R: Readable, W: Writable

Multi-State Input MSI…

Instance Object name Description Possible values Access type Parameter

ID

MSI0 FAULT 1 Fault number 1 See "List of fault codes R r0947[0]

MSI1 FAULT 2 Fault number 2 and alarm codes" R r0947[1]
MSI2 FAULT 3 Fault number 3 R r0947[2]
MSI3 FAULT 4 Fault number 4 R r0947[3]
MSI4 FAULT 5 Fault number 5 R r0947[4]
MSI5 FAULT 6 Fault number 6 R r0947[5]
MSI6 FAULT 7 Fault number 7 R r0947[6]
MSI7 FAULT 8 Fault number 8 R r0947[7]
MSI8 WARNING 1 Alarm number 1 R r2110[0]
MSI9 WARNING 2 Alarm number 2 R r2110[1]
MSI10 WARNING 3 Alarm number 3 R r2110[2]
MSI11 WARNING 4 Alarm number 4 R r2110[3]
MSI12 WARNING 5 Alarm number 5 R r2110[4]
MSI13 WARNING 6 Alarm number 6 R r2110[5]
MSI14 WARNING 7 Alarm number 7 R r2110[6]
MSI15 WARNING 8 Alarm number 8 R r2110[7]
1)
R: Readable

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Communication via RS485
5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT

5.5.3 Acyclic communication (general parameter access) via BACnet

Acyclic communication or general parameter access is realized via BACnet objects DS47IN and
DS47OUT.
Acyclic communication uses the octet string value objects OSV0 and OSV1.

Instance Object name Description Access type

ID

OSV0 DS47IN Maximum length 242, of which two bytes header, 240 W
OSV1 DS47OUT bytes user data R

The OSV are structured as follows:

Function Request length User data

Code
2F (1 Byte) (1 byte) Maximum 240 bytes

Write parameter request with OSV0 and read with OSV1

To read parameter r0002 write the following values into the present value window of OSV0

Table 5-35 Write parameter request via OSV0

Byte Description
2F h 1 Function code 2F h (47),
0A h 2 Request length 10 bytes (0A h)
80 h 3 Request reference = 80 h
01 h 4 Request identifier = 1 h
01 h 5 DO-Id = 1
01 h 6 Number of parameters = 1
10 h 7 Attribute
01 h 8 Number of elements = 1
0002 h 9,10 Parameter number = 2
0000 h 11,12 Subindex = 0

If the request was successfully processed, then you can read out the response precisely once
from the present value window of the OSV1:

Table 5-36 Read parameter content via OSV1

Byte Description
2F h 1 Function code 2F h (47)
08 h 2 Response length 8 bytes
80 h 3 Request reference = 80 h
01 h 4 Request identifier = 1 h
01 h 5 DO-Id = 1
01 h 6 Number of parameters = 1
10 h 7 Format
01 h 8 Number of elements = 1
001F h 9,10 Parameter value 1F h = 31

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 Communication via RS485
5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT

If the response is still not available, then you receive the following message via the present
value window of the OSV1:

Table 5-37 Read parameter content via OSV1

Byte Description
2F h 1 Function code 2F h (47)
00 h 2 Response length 0 (error)
0004 h 3,4 Error code 4 h (response still not available)

If you wish to read the response once more, then you obtain the following message via the
present value window of the OSV1:

Table 5-38 Read parameter content again via OSV1

Byte Description
2F h 1 Function code 2F h (47)
00 h 2 response length 0 (error)
0002 h 3,4 Error code 2 h (Invalid State)

Overview of the error codes

1 h: Invalid Length (invalid length)
2 h: Invalid State (action is not permitted in the actual converter state)
3 h: Invalid function Code (FC = 2 hex)
4 h: Response not ready (the response has still not been issued)
5 h: Internal Error (general system error)
Incorrect access operations to parameters via data set 47 are logged in objects OSV0 and
OSV1.

5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT

P1 is an asynchronous master-device communication between what is known as a Field Cabinet
(master) and the FLN devices (device). FLN stands for "Floor level network".
The master individually addresses the various devices. A device responds only if the master
addresses it. Communication between the devices is not possible.
A Field Cabinet can have several FLN ports. You can connect up to 32 FLN devices to each
FLN port (devices).

Settings in the controller

In the Field Cabinet, for each device you must install what is known as a "Logical controller (LCTR)
point". In addition, in the Field Cabinet you must define the "Point numbers" for communication.
An overview of the "Point Numbers" is provided on the following pages.

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Communication via RS485
5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT

5.6.1 Basic settings for communication via P1

Overview

Procedure
Proceed as follows to set communication via P1:
1. Select the default setting 114
– With Startdrive during commissioning step "Default setting of setpoint/command
sources":
114 "BT Mac 14: Communication P1"
– With the BOP-2 during basic commissioning under step "MAc PAr P15":
P_F _P1
– Via parameter number:
p0015 = 114
After selecting default setting 114, the converter automatically sets the following
parameters:
– p2030 = 8: Fieldbus protocol P1
– p2020 = 5: Baud rate 4800 bit/s
– p0840 = 2090.0 The ON/OFF1 command is interconnected with control word 1, bit 0
– p0852 = 2090.3: The signal for "Enable operation" is interconnected with control word 1,
bit 3
– p2103[0] = 2090.7: The signal for "Acknowledge fault" is interconnected with control
word 1, bit 7
2. Set the address.
Irrespective of the address that has been set, every FLN device responds to telegrams with
address 99.
3. Make additional changes based on the parameters listed in the following sections.
4. If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You have now set the communication via P1.
❒

Additional parameters for adapting communication via P1

p2020 = 7: Baud rate 19200 bit/s
p1070 = 2050[1]: Receive main setpoint via fieldbus
p2051[0] = 52: Send status word via fieldbus
p2051[1] = 63: Send speed actual value via fieldbus

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 Communication via RS485
5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT

5.6.2 Setting the address

Valid address area: 1 … 99

You have the following options for setting the address:
• Using the address switch on the Control Unit:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 5-14 Address switch with example for bus address 10

The address switch has priority over the other settings.

• Using Startdrive or an operator panel via parameter p2021 (default setting: p2021 = 99).
It is only possible to change p2021 if an invalid address is set in the address switch.
If you are working with Startdrive, back up the settings so they are not lost if the power fails.
You can find the position of the address switch in the operating instructions for the converter.
Manuals and technical support (Page 217)

Activating the changed bus address

Procedure
1. Set the address as described above.
2. Switch off the converter power supply.
3. Wait until all LEDs on the converter are dark.
4. Switch on the converter power supply again.
Your settings become effective after switching on.
You have now set the bus address.
❒

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156
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Fieldbuses
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Communication via RS485

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH

Fieldbuses
Communication over CANopen 6
General information on CAN
You can find general information about CAN on the Internet:
CAN Internet pages (http://www.can-cia.org)
You can find the CANdictionary with explanations of CAN terminology on the Internet:
CAN downloads (http://www.can-cia.org/index.php?id=6).

Integrating a converter in a CANopen network

You can find the EDS file for integrating the converter in a CANopen network on the Internet:
EDS (http://support.automation.siemens.com/WW/view/en/48351511)
The EDS file is the description file of the SINAMICS G120 converter for CANopen networks. In
this way, you can use the objects of the DSP 402 device profile.
The following Control Units and converters have an CANopen interface

G120 CU230P-2 CAN G120C CAN

G120 CU250S-2 CAN

Table 6-1 Pin assignment of the connector

Signal D sub connector

;




--- 1
CAN_L, CAN signal (dominant low) 2
CAN_GND, CAN ground 3
--- 4
(CAN _SHLD), optional shield 5
(CAN_GND), optional ground 6

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Communication over CANopen

CAN_H, CAN signal (dominant high) 7

--- 8
--- 9

Grounding the CANopen Control Unit

The CAN ground (pin 3) and the optional ground are electrically isolated from the ground
potential of the system.
The optional shield (pin 5) and the connector housing are connected with the ground
potential of the system.

CANopen functions of the converter

CANopen is a communication protocol with line-type topology that operates on the basis of
communication objects (COB).
SINAMICS G120 converters with CANopen interface comply with the following standards:
• CiA 301 (Application Layer and Communication Profile)
• CiA 303-3 (Indicator Specification)
• CiA 306 (Electronic Data Sheet Specification for CANopen)
• CiA 402 (Device Profile for Drives and Motion Control)

Communication objects (COB)

The converter operates with the following communication objects:
• NMT Network management (NMT service) (Page 161)
Network management objects for controlling CANopen communication and for monitoring
the individual nodes on the basis of a manager-device relationship.
• SDO SDO services (Page 164)
Service data objects for reading and changing parameters
• PDO PDO services (Page 167)
Process data objects to transfer process data, TPDO to transmit, RPDO to receive process data
• SYNC
Synchronization objects
• EMCY
Time stamp and fault messages

COB ID
A communication object contains the data to be transferred and a unique 11-bit COB ID. The COB
ID also defines the priority for processing the communication objects. The communication
object with the lowest COB ID always has the highest priority.

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 Communication over CANopen
6.1 Network management (NMT service)

COB ID for individual communication objects

You will find the specifications for the COB IDs of the individual communication objects
below:

• COB IDNMT = 0 Cannot be changed

• COB IDSYNC = free Pre-assigned with 80 hex
• COB IDEMCY = free 80 hex + node ID = COB IDEMCY
• COB IDTPDO = free In the free PDO mapping *)
• COB IDRPDO = free In the free PDO mapping *)
• COB IDTSDO = 580 hex + node ID
• COB-IDRSDO = 600 hex + node ID
• COB IDNode Guarding/Heartbeat = 700 hex + node ID
*) Predefined connection set (Page 172)

6.1 Network management (NMT service)

Network management (NMT) is node-oriented and has a manager-device topology.
A node is a manager or a device.
The converter is an NMT device, and can adopt the following states:
• Boot-up service COB-ID = 700 hex + Node-ID
• Node Control Service COB ID = 0 (see CANopen state diagram)
The transition between two states is realized using NMT services. You can find details on the
NMT services on the Internet:
CiA 301 (Application Layer and Communication Profile) (http://www.can-cia.org/
index.php?id=specifications).
• Error Control Service COB-ID = 700 hex + Node-ID

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Communication over CANopen
6.1 Network management (NMT service)

CANopen state diagram

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NMT states
The converter state is displayed in p8685.
You can either change the converter state via the control with an NMT telegram, using one of
the command specifiers listed below, or in the converter itself using p8685.
• Initialization: p8685 = 0, Command specifier = 0
The converter initializes itself after power on. In the factory setting, the converter then enters
the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the converter does not go into the
"Pre-Operational" state, but instead into the "Stopped" or "Operational" state.
• Pre-Operational, p8685 = 127 (factory setting), Command specifier = 128
In this state, the node cannot process any process data (PDO). However, the controller can
use SDO parameters to change or operate the converter, which means that you can also enter
setpoints via SDO.
• Operational, p8685 = 5; Command specifier = 1
In this state, the nodes can process SDO as well as also PDO.
• Stopped, p8685 = 4; Command specifier = 2
In this state, the nodes can neither process PDO nor SDO. The "Stopped" state terminates one
of the following commands:
– Enter Pre-Operational, p8685 = 127 (factory setting), Command specifier = 128
– Start Remote Node
– Reset Node, p8685 = 128, Command specifier = 129
– Reset Communication, p8685 = 129, Command specifier = 130

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 Communication over CANopen
6.1 Network management (NMT service)

Note
Sending an incorrect NMT state
If the control sends an incorrect NMT state to the converter, the converter goes into the
"Stopped" state.

Request sent by the manager to one or several devices

The NMT manager can simultaneously direct a request to one or more devices. The following
is applicable:
• Requirement of a device:
The controller accesses the device with its node ID (1 - 127).
• Requirement for all devices:
Node ID = 0

Boot-up Service
The boot-up protocol indicates the state of the NMT device after it has booted (factory setting
"Pre-operational").
Bootup protocol COB ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.

NMT state after power up

Use parameter p8684 to set the state that the converter goes into after powering up:
• p8684 = 4 Stopped
• p8684 = 5 Operational
• p8684 = 127 Pre-Operational (factory setting)

Node Control Service

The Node Control Services control state transitions
• Start Remote Node:
Command for switching from the "Pre-Operational" communication state to "Operational".
The drive can only transmit and receive process data (PDO) in "Operational" state.
• Stop Remote Node:
Command for switching from "Pre-Operational" or "Operational" to "Stopped". The node only
processes NMT commands in the "Stopped" state.
• Enter Pre-Operational:
Command for switching from "Operational" or "Stopped" to "Pre-Operational". In this state,
the node cannot process any process data (PDO). However, the controller can use SDO
parameters to change or operate the converter, which means that you can also enter
setpoints via SDO.

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Communication over CANopen
6.2 SDO services

• Reset Node:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to "Initialization".
When the Reset Node command is issued, the converter resets all the objects (1000 hex -
9FFF hex) to the state that was present after "Power On".
• Reset Communication:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to "Initialization".
When the Reset Communication command is issued, the converter resets all the
communication objects (1000 hex - 1FFF hex) to the state that was present after "Power On".
Command specifier and node_ID indicate the transition states and addressed nodes.

Error Control Service

"Node Guarding / Life Guarding" or "Heartbeat" monitor communication.
Setting options and default settings.
Setting the monitoring of the communication (Page 197)

6.2 SDO services

You can access the object directory of the connected drive unit using the SDO services. An SDO
connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.

Receiving: Server ⇐ client: COB ID = 600 hex + node ID

Transmitting: Server ⇒ client: COB ID = 580 hex + node ID

Properties
The SDOs have the following properties:
• An SDO connection exists only in the Pre-Operational and Operational states
• Transmission is confirmed
• Asynchronous transmission (matches the acyclical communication via PROFIBUS DB)
• Transmission of values > 4 bytes (normal transfer)
• Transmission of values ≤ 4 bytes (expedited transfer)
• All drive unit parameters can be addressed via SDO

6.2.1 Access to SINAMICS parameters via SDO

You access SINAMICS parameters using the SDO service. To do this, you use objects 2000
hex … 470F hex of the manufacturer-specific area of the object directory.

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 Communication over CANopen
6.2 SDO services

Because you cannot directly address all of the parameters using this area, you require for
an SDO job always the parameter number itself and the offset dependent on the parameter
number.

Selection of parameter range and the associated offset

Parameter range Offset Offset value

0 < parameter number < 10000 p8630[2] = 0 0
10000 ≤ parameter number < 20000 p8630[2] = 1 10000
20000 ≤ parameter number < 20000 p8630[2] = 2 20000
30000 ≤ parameter number < 20000 p8630[2] = 3 30000
Calculate object number for an SDO job
The object number for the SDO job is calculated as follows:
object number hex = (number of the converter parameter - offset value) hex + 2000 hex

Examples of object numbers

Parameter Number of the converter parameter - offset val‐ Object number
ue
Decimal Hexadecimal
● p0010: 10 dec A hex ⇒ 200A hex
● p11000: 1000 dec 3E8 hex ⇒ 23E8 hex
● r20001: 1 dec 1 hex ⇒ 2001 hex
● p31020: 1020 dec 3FC hex ⇒ 23FC hex

Selection, index range

A CANopen object can contain a maximum of 255 indexes. For parameters with more than 255
indexes, you must create additional CANopen objects via p8630[1]. Overall, 1024 indexes are
possible.
• p8630[1] = 0: 0 … 255
• p8630[1] = 1: 256 … 511
• p8630[1] = 2: 512 … 767
• p8630[1] = 3: 768 … 1023

Switch-on access to objects of the converter parameters

Access to objects of the converter parameters is activated via p8630[0], where:
• p8630[0] = 0: only access to CANopen objects
• p8630[0] = 1: access to virtual CANopen objects (converter parameters)
• p8630[0] = 2: not relevant for G120 converters
A selection of important manufacturer-specific objects is included in the EDS file.

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Communication over CANopen
6.2 SDO services

6.2.2 Access PZD objects via SDO

Access to mapped PZD objects

When you access objects mapped via transmit or receive telegrams, you can access the process
data without additional settings.

Overview

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Example, access to object 6042 hex

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Access to non-mapped PZD objects

When you access objects that are not interconnected via the receive or transmit telegram, you
must also establish the interconnection with the corresponding CANopen parameters.

Fieldbuses
166 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

Overview

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Example for interconnecting the control word with CANopen parameters:

ON/OFF1 p840[0] = r8795.0

No coast down activated p0844[0] = r8795.1
No fast stop activated p0848[0] = r8795.2
Enable operation p0852[0] = r8795.3
Enable ramp-function genera‐ p1140[0] = r8795.4
tor
Continue ramp-function gen‐ p1141[0] = r8795.5
erator
Enable speed setpoint p1142[0] = r8795.6
Acknowledge fault p2103[0] = r8795.7
Stop p8791 = r8795.8

6.3 PDO services

Process data objects (PDO)

CANopen transfers the process data using "Process Data Objects" (PDO). There are send PDOs
(TDPO) and receive PDOs (RPDO). CAN controller and converter each exchange up to eight
TPDOs and RPDOs.
PDO communication parameters and PDO mapping parameters define a PDO.
Link the PDO with the elements of the object directory that contain the process data.
Free PDO mapping (Page 174)

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 167
Communication over CANopen
6.3 PDO services

Predefined connection set (Page 172) .

Parameter area for PDO RPDO TPDO

In the converter In CANopen In the converter In CANopen
Communication parameters p8700 … p8707 1400 hex … 1407 hex p8720 … p8727 1800 hex … 1807 hex
Mapping parameters p8710 … p8717 1600 hex … 1607 hex p8730 … p8737 1A00 hex …1A07 hex

Structure of the PDO

A PDO consists of communication and mapping parameters. Examples for the structure of the
TPDO and RPDO follow.
Values for communication parameters:
Tables in the Section Object directories (Page 183)

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COB ID
Overview: Communication over CANopen (Page 159).
Calculating the COB IDs: Predefined connection set (Page 172)

Fieldbuses
168 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

Transmission type
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] … p8707[1] / p8720[1] … p8727[1]) in
the converter:
• Synchronous cyclic (value range: 1 … 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
• Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
• Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 169
Communication over CANopen
6.3 PDO services

• Acyclic asynchronous (values: 254, 255)

– TPDO sent in the Event Time interval.
– The controller accepts the RPDO immediately.
• Synchronous data transmission
A periodic synchronization object (SYNC object) ensures that the devices on the CANopen
bus remain synchronized during transmission.
Each PDO transferred as synchronization object must include a "transmission type" 1 ... n:
– Transmission type 1: PDO in each SYNC cycle
– Transmission type n: PDO in every n-th SYNC cycle
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For synchronous TPDOs, the transmission mode also identifies the transmission rate as a
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The CAN controller transfers data from synchronous RPDOs that it received after a SYNC
signal only after the next SYNC signal to the converter.
Note
The SYNC signal synchronizes only the communication on the CANopen bus and not
functions in the converter, e.g. the clock times of the speed control.

Inhibit time
The inhibit time defines the minimum interval between two transmissions.

PDO services
The following services are available for CANopen:
• PDO Write protocol
• PDO Read protocol

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170 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

SINAMICS converters support the PDO Write protocol

Write PDO
The "PDO Write protocol" service is based on the push model. The PDO has exactly one
producer. There can be no consumer, one consumer, or multiple consumers.
Via Write PDO, the producer of the PDO sends the data of the mapped application object to
the individual consumer.

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 171
Communication over CANopen
6.3 PDO services

6.3.1 Predefined connection set

If you integrate the converter using the factory setting in CANopen, the converter receives the
control word and the speed setpoint from the controller. The converter returns the status word
and the actual speed value to the controller. These are the settings stipulated in the Predefined
Connection Set.

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Fieldbuses
172 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

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Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 173
Communication over CANopen
6.3 PDO services

6.3.2 Free PDO mapping

Using the free PDO mapping, you configure and interconnect any process data as required as
follows:
• as free objects free objects (Page 192) or
• as objects of drive profile CiA 402, corresponding to the requirements of your system for the
PDO service
The precondition is that the converter is set for free PDO mapping (p8744 = 2) (factory
setting).

Configuring and mapping process data using free PDO mapping

Procedure
1. Specify the process data.
Examples:
– Send current actual value (r0068) from the converter to the controller (TPDO - Transmit
Process Data Object)
– Send additional speed setpoint from the controller to the converter (RPDO - Receive
Process Data Object) and write in p1075
2. Specify objects for transmission of the process data
– TPDO1 for the current actual value
– RPDO1 for additional speed setpoint
3. Define the communication parameters for RPDO and TPDO
– Define communication parameters for RPDO.
RPDO communication parameters (Page 185)
– Define communication parameters for TPDO.
See TPDO communication parameters (Page 188)
4. Select the OV index for the mapping parameters
– Mapping parameters for RPDO.
RPDO mapping parameters (Page 186)
– Mapping parameters for TPDO.
TPDO mapping parameters (Page 190)
5. Write OV index into the SINAMICS mapping parameters
– p8710 … p8717 for RPDO
– p8730 … p8737 for TPDO

Note
Precondition for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID of the
corresponding parameter to invalid. To do this, add a value of 80000000 hex to the COB-ID.
You must reset the COB-ID to a valid value once you changed the mapping parameters.

Fieldbuses
174 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

OV index:
Free objects (Page 192)
Objects of the drive profile CiA 402 (Page 193)
You have now configured and mapped the process data.

Free RPDO mapping - Overview

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Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 175
Communication over CANopen
6.3 PDO services

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Fieldbuses
176 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

6.3.3 Interconnect objects from the receive and transmit buffers

To interconnect process data, proceed as follows:

Procedure
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters).
Predefined connection set (Page 172)
Free PDO mapping (Page 174)
2. Interconnect parameters:
Interconnect the parameters of the PZD buffer (r2050/r2060, p2051/p2061) corresponding
to the mapping of point "Create telegram" using the mapping table r8750/r8760 or r8751/
r8761. The mapping table indicates the position of a mapped CANopen object in the PZD
buffer.
You have now interconnected the process data.

Interconnecting the receive buffer

The converter writes the received data to the receive buffer:
• PZD receive word 1 … PZD receive word 12 double word in r2060[0] … r2060[10].
• PZD receive word 1 … PZD receive word 12 word in r2050[0] … r2050[11].
• PZD 1 … PZD 4 bit-by-bit in r2090.0 … r2090.15 to r2093.0 … r2093.15
The position of the mapped objects in the receive buffer is displayed in:
• r8760 for double word switching
• r8750 for word switching

Examples

Object Mapped receive ob‐ Receive word r2050

jects
Control word r8750[0] = 6040 hex Interconnect r2050[0] (PZD1) in p0840.0 = 2090.0
(PZD1) control word 1) p0844.0 = 2090.1
p08484.0 = 2090.
2
p0852.0 = 2090.3
p2130.0 = 2090.7
Torque limit r8750[1] = 5800 hex Interconnect r2050[1] (PZD2) in p1522 = 2050[1]
(PZD2) the torque limit:
Speed setpoint r8750[2] = 6042 hex Interconnect r2050[2] (PZD3) in p1070 = 2050[2]
(PZD3) the speed setpoint:

1) see also p8790, "Automatic CAN control word interconnection"

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 177
Communication over CANopen
6.3 PDO services

Interconnecting the send buffer

The converter transmits the data from the send buffer as follows:
• p2051[0] … p2051[13] in PZD 1 … PZD 14 (indication of the actual values in r2053[0 … 13])
• p2061[0] … p2061[12] in PZD 1 … PZD 14 (indication of the actual values in r2063[0 … 12])

Examples

Object Mapped send objects Send word p2051

Status word r8751[0] = 6041 hex Interconnect p2051[0] in PZD1 p2051[0] =
(PZD1) r8784
Current actual r8751[1] = 5810 hex Interconnect PZD2 in the current ac‐ p2051[1] = r68[
value (PZD2) tual value 1]
Actual speed val‐ r8751[2] = 6044 hex Interconnect PZD3 in the speed ac‐ p2051[2] = r63[
ue (PZD3) tual value 0]

Fieldbuses
178 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.3 PDO services

6.3.4 Free PDO mapping for example of the actual current value and torque limit
You integrate the actual current value and torque limit into the communication via the free PDO
mapping.
The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1,
respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection
Set.

Mapping the actual current value (r0068) with TPDO1

Proceed as follows to accept the current actual value as send object in the communication:

Procedure
1. Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
– Set the COB-ID of TPDO1 to "invalid":
p8720[0] = 800001B2 hex
– Link the mapping parameter object 2 of TPDO1 (p8730.1) with the OV index for the actual
current value:
p8730.1 = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
– Set the COB-ID of TPDO1 to "valid":
p8720[0] = 400001B2 hex
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1]) = 5810 (actual current value)
3. link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0086[0]
You have now transferred the actual current value into the communication as the send
object.
❒

Mapping the torque limit (p1520) with RPDO1

Proceed as follows to accept the torque limit value in the communication:

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 179
Communication over CANopen
6.4 CANopen operating modes

Procedure
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
p8700[0] = 80000232 hex
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value)
– Set the COB-ID of RPDO1 to "valid":
p8700[0] = 40000232 hex
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
You have now transferred the value for the torque limit into the communication.
❒

6.4 CANopen operating modes

The converter has the following CANopen operating modes

CANopen operating mode SINAMICS

Active Setting 6502 h: Open-loop/closed-loop con‐ Control Unit / Value
operating mode in Display trol mode converter in
6060 h: the ac‐ p1300

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cific operating teristic and FCC
mode 1
Manufacturer-spe‐ -2 Bit17 U/f control with parabolic x x x 2
cific operating characteristic
mode 2
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cific operating able characteristic
mode 3
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cific operating teristic and ECO
mode 4
Manufacturer-spe‐ -5 Bit20 U/f control for drive requiring X x 5
cific operating a precise frequency (e.g. tex‐
mode 5 tiles)

Fieldbuses
180 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
 Communication over CANopen
6.4 CANopen operating modes

Manufacturer-spe‐ -6 Bit21 U/f control for drive requiring X x 6

cific operating a precise frequency and FCC
mode 6
Manufacturer-spe‐ -7 Bit22 U/f control with parabolic x x x 7
cific operating characteristic and ECO
mode 7
Manufacturer-spe‐ -15 Bit23 Operation with braking resis‐ x 15
cific operating tor
mode 8
Manufacturer-spe‐ -19 Bit25 U/f control with independent x x 19
cific operating voltage setpoint
mode 10
Manufacturer-spe‐ -20 Bit26 Speed control (without en‐ x x x 20
cific operating coder)
mode 11
Profile Velocity 3 Bit2 Speed control (with encoder) x 21
Mode
Manufacturer-spe‐ -22 Bit27 Torque control (without en‐ x 22
cific operating coder)
mode 12
Profile Torque 4 Bit3 Closed-loop torque control x 23
Mode (with encoder)

Switching the CANopen operating modes

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You can also use parameters from other CANopen operating modes, independently from the
current effective CANopen operating mode.

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 181
Communication over CANopen
6.5 RAM to ROM via the CANopen object 1010

6.5 RAM to ROM via the CANopen object 1010

Save the parameters of the converter EEPROM using CANopen object 1010.
The following options are available:
• 1010.1: Save all parameters - identical with p0971 = 1, or back them up so they are not lost
if the power fails.
• 1010.2: Save communication parameters - not possible via parameter settings!
• 1010.3: Save application parameters - not possible via parameter settings!
If a memory card is inserted, write the parameter settings via the control with object 1010.1
into the EEPROM and to the memory card. You can carry out series commissioning with the
memory card.
For additional information, please refer to the operating instructions, Chapter "Backing up
data and series commissioning"
Overview of the manuals (Page 217),

Note
Save data using objects 1010.2 and 1010.3
Although you can write the communication and/or application parameters to the EEPROM using
objects 1010.2 and 1010.3, you cannot write them to the memory card. This also means that it
is not possible to load the communication data or only the application data from one converter
into the next via the memory card.

Note
With the USB cable inserted, save the data in the converter via the control.
If the converter is connected with a computer via USB but Startdrive cannot access the converter
online, then you cannot save data in the converter using CANopen object 1010.
Withdraw the USB cable from the converter if you wish to save the parameter setting with object
1010.1 in the converter via the control.

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6.6 Object directories

6.6 Object directories

6.6.1 General objects from the CiA 301 communication profile

Overview
The following table lists the drive-independent communication objects. The "SINAMICS
parameters" column shows the parameter numbers assigned in the converter.

Table 6-2 Drive-independent communication objects

OD in‐ Subindex Object name SINAMICS parame‐ Transmis‐ Data Default Can be read/
dex (hex) ters sion type values written
(hex)
1000 Device type r8600 SDO U32 – r
1001 Error register r8601 SDO U8 – r
1003 0...52 hex Predefined error field p8611[0...82] SDO U32 0 r/w
0 Number of errors p8611.0 SDO U32 0 rw
1 Number of module p8611.1 SDO U32 0 r
2 Number of errors: module p8611.2 SDO U32 0 r
1
3-A Standard error field: mod‐ p8611.3- p8611.10 SDO U32 0 r
ule 1
B Number of errors: module p8611.11 SDO U32 0 r
2
C-13 Standard error field: mod‐ p8611.12- SDO U32 0 r
ule 2 p8611.19
14 Number of errors: module p8611.20 SDO U32 0 r
3
15-1C Standard error field: mod‐ p8611.21- SDO U32 0 r
ule 3 p8611.28
1D Number of errors: module p8611.29 SDO U32 0 r
4
1E-25 Standard error field: mod‐ p8611.30- SDO U32 0 r
ule 4 p8611.37
26 Number of errors: module p8611.38 SDO U32 0 r
5
27-2E Standard error field: mod‐ p8611.39- SDO U32 0 r
ule 5 p8611.46
2F Number of errors: module p8611.47 SDO U32 0 r
6
30-37 Standard error field: mod‐ p8611.48- SDO U32 0 r
ule 6 p8611.55
38 Number of errors: module p8611.56 SDO U32 0 r
7
39-40 Standard error field: mod‐ p8611.57- SDO U32 0 r
ule 7 p8611.64

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6.6 Object directories

OD in‐ Subindex Object name SINAMICS parame‐ Transmis‐ Data Default Can be read/
dex (hex) ters sion type values written
(hex)
41 Number of errors: module p8611.65 SDO U32 0 r
8
42-49 Standard error field: mod‐ p8611.66- SDO U32 0 r
ule 8 p8611.73
4A Number of Control Unit p8611.74 SDO U32 0 r
faults
4B-52 Field Control Unit stand‐ p8611.75- SDO U32 0 r
ard error p8611.82
1005 SYNCH COB ID p8602 SDO U32 128 rw
1008 Manufacturer device SDO
name
100A Manufacturer software r0018 SDO U32 – r
version
100C Guard time p8604.0 SDO U16 0 rw
100D Lifetime factor p8604.1 SDO U16 0 rw
1010 Store parameters p0971 SDO U16 0 rw
0 Largest subindex suppor‐ SDO
ted
1 Save all parameters p0971 SDO U16 0 rw
2 Save communication pa‐ p0971 SDO U16 0 rw
rameters (0x1000-0x1fff)
3 Save application-related p0971 SDO U16 0 rw
parameters
(0x6000-0x9fff)
1011 Restore default parame‐ p0970 SDO U16 0 rw
ters
0 Largest subindex suppor‐ SDO
ted
1 Restore all default param‐ p0970 SDO U16 0 rw
eters
2 Restore communication p0970 SDO U16 0 rw
default parameters
(0x1000-0x1fff)
3 Restore application de‐ p0970 SDO U16 0 rw
fault parameters
(0x6000-0x9fff)
1014 COB ID emergency p8603 SDO U32 0 rw
1017 Producer heartbeat time p8606 SDO U16 0 rw
1018 Identy Object r8607[0...3] U32 – r
0 Number of entries SDO
1 Vendor ID r8607.0 SDO U32 – r
2 Product code r8607.1 SDO U32 – r
3 Revision number r8607.2 SDO U32 – r
4 Serial number r8607.3 SDO U32 0 r
1027 Module list

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6.6 Object directories

OD in‐ Subindex Object name SINAMICS parame‐ Transmis‐ Data Default Can be read/
dex (hex) ters sion type values written
(hex)
0 Number of entries r0102 SDO U16 – r
1-8 Module ID p0107[0...15] SDO I16 0 rw
1029 Error behavior
0 Number of error classes SDO
1 Communication Error p8609.0 SDO U32 1 rw
2 Device profile or manufac‐ p8609.1 SDO U32 1 rw
turer-specific error
1200 1st server SDO parameter
0 Number of entries SDO
1 COB ID client -> server (rx) r8610.0 SDO U32 – r
2 COB ID server -> client (tx) r8610.1 SDO U32 – r

RPDO configuration objects

The following tables list the communication and mapping parameters together with the indexes
for the individual RPDO configuration objects. The configuration objects are established via SDO.
The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.

Table 6-3 RPDO configuration objects - communication parameters

OD Sub‐ Name of the object SINAMICS Data Predefined connec‐ Can be

Index in‐ parame‐ type tion set read/
(hex) dex ters written
(hex) to
1400 Receive PDO 1 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8700.0 U32 200 hex + node ID r/w
2 Transmission type p8700.1 U8 FE hex r/w
1401 Receive PDO 2 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8701.0 U32 300 hex + node ID r/w
2 Transmission type p8701.1 U8 FE hex r/w
1402 Receive PDO 3 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8702.0 U32 8000 06DF hex r/w
2 Transmission type p8702.1 U8 FE hex r/w
1403 Receive PDO 4 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8703.0 U32 8000 06DF hex r/w
2 Transmission type p8703.1 U8 FE hex r/w
1404 Receive PDO 5 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8704.0 U32 8000 06DF hex r/w

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6.6 Object directories

OD Sub‐ Name of the object SINAMICS Data Predefined connec‐ Can be

Index in‐ parame‐ type tion set read/
(hex) dex ters written
(hex) to
2 Transmission type p8704.1 U8 FE hex r/w
1405 Receive PDO 6 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8705.0 U32 8000 06DF hex r/w
2 Transmission type p8705.1 U8 FE hex r/w
1406 Receive PDO 7 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8706.0 U32 8000 06DF hex r/w
2 Transmission type p8706.1 U8 FE hex r/w
1407 Receive PDO 8 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8707.0 U32 8000 06DF hex r/w
2 Transmission type p8707.1 U8 FE hex r/w

Table 6-4 RPDO configuration objects - mapping parameters

OD Sub‐ Name of the object SINAMICS Data Predefined con‐ Can be

index in‐ parame‐ type nection set read/
(hex) dex ters written to
(hex)
1600 Receive PDO 1 mapping parameter
0 Number of mapped application objects in PDO U8 1 r
1 PDO mapping for the first application object to be p8710.0 U32 6040 hex r/w
mapped
2 PDO mapping for the second application object to p8710.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8710.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8710.3 U32 0 r/w
mapped
1601 Receive PDO 2 mapping parameter
0 Number of mapped application objects in PDO U8 2 r
1 PDO mapping for the first application object to be p8711.0 U32 6040 hex r/w
mapped
2 PDO mapping for the second application object to p8711.1 U32 6042 hex r/w
be mapped
3 PDO mapping for the third application object to be p8711.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8711.3 U32 0 r/w
mapped
1602 Receive PDO 3 mapping parameter
0 Number of mapped application objects in PDO U8 0 r

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6.6 Object directories

OD Sub‐ Name of the object SINAMICS Data Predefined con‐ Can be

index in‐ parame‐ type nection set read/
(hex) dex ters written to
(hex)
1 PDO mapping for the first application object to be p8712.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8712.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8712.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8712.3 U32 0 r/w
mapped
1603 Receive PDO 4 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8713.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8713.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8713.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8713.3 U32 0 r/w
mapped
1604 Receive PDO 5 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8714.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8714.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8714.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8714.3 U32 0 r/w
mapped
1605 Receive PDO 6 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8715.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8715.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8715.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8715.3 U32 0 r/w
mapped
1606 Receive PDO 7 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8716.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8716.1 U32 0 r/w
be mapped

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6.6 Object directories

OD Sub‐ Name of the object SINAMICS Data Predefined con‐ Can be

index in‐ parame‐ type nection set read/
(hex) dex ters written to
(hex)
3 PDO mapping for the third application object to be p8716.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8716.3 U32 0 r/w
mapped
1607 Receive PDO 8 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8717.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8717.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8717.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8717.3 U32 0 r/w
mapped

TPDO configuration objects

The following tables list the communication and mapping parameters together with the indexes
for the individual TPDO configuration objects. The configuration objects are established via SDO.
The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.

Table 6-5 TPDO configuration objects - communication parameters

OD Sub‐ Object name SINAMICS Data Predefined con‐ Can be

index in‐ parameters type nection set read/
(hex) dex written
(hex)
1800 Transmit PDO 1 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8720.0 U32 180 hex + node ID r/w
2 Transmission type p8720.1 U8 FE hex r/w
3 Inhibit time p8720.2 U16 0 r/w
4 Reserved p8720.3 U8 --- r/w
5 Event timer p8720.4 U16 0 r/w
1801 Transmit PDO 2 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8721.0 U32 280 hex + node ID r/w
2 Transmission type p8721.1 U8 FE hex r/w
3 Inhibit time p8721.2 U16 0 r/w
4 Reserved p8721.3 U8 --- r/w
5 Event timer p8721.4 U16 0 r/w
1802 Transmit PDO 3 communication parameter
0 Largest subindex supported U8 5 r

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6.6 Object directories

OD Sub‐ Object name SINAMICS Data Predefined con‐ Can be

index in‐ parameters type nection set read/
(hex) dex written
(hex)
1 COB ID used by PDO p8722.0 U32 C000 06DF hex r/w
2 Transmission type p8722.1 U8 FE hex r/w
3 Inhibit time p8722.2 U16 0 r/w
4 Reserved p8722.3 U8 --- r/w
5 Event timer p8722.4 U16 0 r/w
1803 Transmit PDO 4 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8723.0 U32 C000 06DF hex r/w
2 Transmission type p8723.1 U8 FE hex r/w
3 Inhibit time p8723.2 U16 0 r/w
4 Reserved p8723.3 U8 --- r/w
5 Event timer p8723.4 U16 0 r/w
1804 Transmit PDO 5 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8724.0 U32 C000 06DF hex r/w
2 Transmission type p8724.1 U8 FE hex r/w
3 Inhibit time p8724.2 U16 0 r/w
4 Reserved p8724.3 U8 --- r/w
5 Event timer p8724.4 U16 0 r/w
1805 Transmit PDO 6 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8725.0 U32 C000 06DF hex r/w
2 Transmission type p8725.1 U8 FE hex r/w
3 Inhibit time p8725.2 U16 0 r/w
4 Reserved p8725.3 U8 --- r/w
5 Event timer p8725.4 U16 0 r/w
1806 Transmit PDO 7 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8726.0 U32 C000 06DF hex r/w
2 Transmission type p8726.1 U8 FE hex r/w
3 Inhibit time p8726.2 U16 0 r/w
4 Reserved p8726.3 U8 --- r/w
5 Event timer p8726.4 U16 0 r/w
1807 Transmit PDO 8 communication parameter
0 Largest subindex supported U8 5 r
1 COB ID used by PDO p8727.0 U32 C000 06DF hex r/w
2 Transmission type p8727.1 U8 FE hex r/w
3 Inhibit time p8727.2 U16 0 r/w
4 Reserved p8727.3 U8 --- r/w
5 Event timer p8727.4 U16 0 r/w

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Communication over CANopen
6.6 Object directories

Table 6-6 TPDO configuration objects - mapping parameters

OD Subin‐ Object name SINAMICS Data type Predefined Can be

index dex parame‐ connection read/
(hex) (hex) ters set written
1A00 Transmit PDO 1 mapping parameter
0 Number of mapped application objects in PDO U8 1 r/w
1 PDO mapping for the first application object to be p8730.0 U32 6041 hex r/w
mapped
2 PDO mapping for the second application object to p8730.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8730.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8730.3 U32 0 r/w
mapped
1A01 Transmit PDO 2 mapping parameter
0 Number of mapped application objects in PDO U8 2 r/w
1 PDO mapping for the first application object to be p8731.0 U32 6041 hex r/w
mapped
2 PDO mapping for the second application object to p8731.1 U32 6044 hex r/w
be mapped
3 PDO mapping for the third application object to be p8731.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8731.3 U32 0 r/w
mapped
1A02 Transmit PDO 3 mapping parameter
0 Number of mapped application objects in PDO U8 0 r/w
1 PDO mapping for the first application object to be p8732.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8732.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8732.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8732.3 U32 0 r/w
mapped
1A03 Transmit PDO 4 mapping parameter
0 Number of mapped application objects in PDO U8 0 r/w
1 PDO mapping for the first application object to be p8733.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8733.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8733.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8733.3 U32 0 r/w
mapped
1A04 Transmit PDO 5 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8734.0 U32 0 r/w
mapped

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6.6 Object directories

OD Subin‐ Object name SINAMICS Data type Predefined Can be

index dex parame‐ connection read/
(hex) (hex) ters set written
2 PDO mapping for the second application object to p8734.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8734.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8734.3 U32 0 r/w
mapped
1A05 Transmit PDO 6 mapping parameter
0 Number of mapped application objects in PDO U8 0 r/w
1 PDO mapping for the first application object to be p8735.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8735.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8735.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8735.3 U32 0 r/w
mapped
1A06 Transmit PDO 7 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8736.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8736.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8736.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8736.3 U32 0 r/w
mapped
1A07 Transmit PDO 8 mapping parameter
0 Number of mapped application objects in PDO U8 0 r
1 PDO mapping for the first application object to be p8737.0 U32 0 r/w
mapped
2 PDO mapping for the second application object to p8737.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8737.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to be p8737.3 U32 0 r/w
mapped

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Communication over CANopen
6.6 Object directories

6.6.2 Free objects

You can interconnect any process data objects of the receive and transmit buffer using receive
and transmit double words.
• Scaling for percentage values:
– 16-bit (word): 4000 hex ≙ 100%
– 32-bit (doubleword) 4000000 hex ≙ 100%
• Scaling for values referred to units:
– 16-bit (word): 4000 hex ≙ value of the corresponding reference parameter for p200x
– 32-bit (double word) 4000000 hex ≙ Value of the corresponding reference parameter for
p200x
Example:
– For temperature values: 16-bit (word): 4000 hex ≙ p2006
– For temperature values: 32-bit (doubleword): 4000000 hex ≙ p2006
The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.
The assignment applies to the case in which an object which is not mapped in any PDO is to
be accessed via SDO.

OD index (hex) Description Data Default set‐ Can be writ‐ SINAMICS pa‐
type ting ten to-/ rameters
per PZD read
5800 … 580F 16 freely-interconnectable receive process data I16 0 r/w r8745[0 … 15]
5810 … 581F 16 freely-interconnectable transmit process da‐ I16 0 r r8746[0 … 15]
ta
5820 … 5827 8 freely-interconnectable receive process data I32 0 r/w r8747[0 … 7]
5828 … 582F Reserved
5830 … 5837 8 freely-interconnectable transmit process data I32 0 r r8748[0 … 7]
5828 … 582F Reserved

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 Communication over CANopen
6.6 Object directories

6.6.3 Objects from the CiA 402 drive profile

The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
converter.

OD in‐ Sub‐ Name of the object SINAMICS pa‐ Transmission Data Default Can be
dex in‐ rameters type setting read/
(hex) dex written
(hex)
Predefinitions
67FF Single device type SDO U32 r
Common entries in the object dictionary
6007 Abort connection option code p8641 SDO I16 3 r/w
6502 Supported drive modes SDO I32 r
6504 Drive manufacturer SDO String SIEMENS r
Device control
6040 Control word r8795 PDO/SDO U16 – r/w
6041 Status word r8784 PDO/SDO U16 – r
605D Halt option code p8791 PDO/SDO I16 – r/w
6060 Modes of operation p1300 SDO I8 – r/w
6061 Modes of operation display r8762 SDO I8 – r
Factor group
6094 Velocity encoder factor SDO U8 - r
01 velocity encoder factor p8798[1] SDO U32 1 r/w
numerator
02 velocity encoder factor p8798[2] SDO U32 1 r/w
denumerator
Profile velocity mode
6063 Actual position value r0482 SDO/PDO I32 – r
6069 Velocity sensor actual value r0061 SDO/PDO I32 – r
606B Velocity demand value r1170 SDO/PDO I32 – r
606C Velocity actual value r0063 SDO/PDO I32 – r
Actual velocity
6083 Profile acceleration p1082/p1120 SDO I32 – r/w
6084 Profile deceleration p1082/p1121 SDO I32 0 r/w
6085 Quick stop deceleration p1082/p1135 SDO I32 0 r/w
6086 Motion profile type p1115/p1134 SDO I32 0 r/w
60FF Target velocity p1155[0] 1)
SDO/PDO I32 0 r/w
Set velocity p1072 2)

Profile Torque Mode 3)

6071 Target torque r8797 SDO/PDO I16 – r/w

torque setpoint
6072 Max. torque p1520 SDO 0 0
6074 Torque demand value r0079 SDO/PDO I16 – r
overall torque setpoint
6077 Torque actual value r0080 SDO/PDO I16 – r

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Communication over CANopen
6.7 Integrating the converter into CANopen

OD in‐ Sub‐ Name of the object SINAMICS pa‐ Transmission Data Default Can be
dex in‐ rameters type setting read/
(hex) dex written
(hex)
Velocity mode
6042 vl target velocity r8792 SDO/PDO I16 – r/w
6043 vl velocity demand r1170 SDO/PDO I16 – r
6044 vl velocity actual value r0063 SDO/PDO I16 – r
6046 0 vl velocity min./max. amount SDO U8 – r
1 vl velocity min. amount p1080 SDO U32 – r/w
2 vl velocity max. amount p1082 SDO U32 – r/w
6048 0 vl velocity acceleration SDO U8 – r
1 Delta speed p1082 SDO U32 – r/w
2 Delta time p1120 SDO U16 – r/w

1) Without ramp-function generator

2) With ramp-function generator
3) The converter can process the objects from the Profile Torque Mode. But they cannot be set nor selected in converters.

6.7 Integrating the converter into CANopen

Commissioning

Requirement

• Startdrive is installed on the computer used to commis‐

sion the system.
• The converter is connected to a CANopen manager.
• The EDS (Electronic Data Sheet) is installed on your
CANopen manager.
• The converter interfaces have been set to the CANopen
fieldbus during basic commissioning. 0DVWHU
This means that the following signals in the converter
are interconnected corresponding to the Predefined
Connection Sets:
&$1RSHQ
– Speed setpoint and control word
– Speed actual value and status word
You can find the EDS on the Internet:
EDS (electronic data sheet) (http://support.automation.siemens.com/WW/view/en/
48351511)

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 Communication over CANopen
6.7 Integrating the converter into CANopen

Procedure
1. Connecting converter to CAN bus (Page 195)
2. Set the node ID, baud rate and the communication monitoring.
Setting the node ID and baud rate (Page 195)"
Setting the monitoring of the communication (Page 197)"
3. Interconnect additional process data
Set p8744 = 2. You can now interconnect other process data.
Free PDO mapping (Page 174)"
4. Signal interconnection of the links created in free PDO mapping.
Interconnect objects from the receive and transmit buffers (Page 177).
5. Exit commissioning
This is carried out in Startdrive in the commissioning wizard.
You have now commissioned the CANopen interface.
Further information about configuring the communication:
Communication over CANopen (Page 159)
Object directories (Page 183).

6.7.1 Connecting converter to CAN bus

Connect the converter to the fieldbus via the 9-pin SUB-D pin connector.
The connections of this pin connector are short-circuit proof and isolated. If the converter
forms the first or last device in the CANopen network, then you must switch-in the bus-
terminating resistor.
For additional information, refer to the operating instructions of the Control Unit.

6.7.2 Setting the node ID and baud rate

Node ID
Valid value range: 1 … 127

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Communication over CANopen
6.7 Integrating the converter into CANopen

You have the following options for setting the node ID:
• Using the address switch on the Control Unit:
([DPSOH
%LW 
%LW 
%LW 
%LW  
%LW 
%LW  
%LW 
2Q 2II  2Q 2II
Figure 6-11 Address switch with example for bus address 10

The address switch has priority over the other settings.

• Using Startdrive or an operator panel via parameter p8620 (default setting: p8620 = 126)
It is only possible to change p8620 if the address 0 is set in the address switch.
If you are working with Startdrive, back up the settings so they are not lost if the power fails.
The position of the address switch can be found in the operating instructions for the
converter.
Manuals and technical support (Page 217)

Setting the baud rate

You can set the baud rate using parameter p8622. If you are working with Startdrive, back up the
settings so they are not lost if the power fails.
Setting range: 10 kbps … 1 Mbps. The maximum permissible cable length for 1 Mbps is 40 m.

Activating node ID or baud rate

Procedure
To activate the changed node ID or baud rate, proceed as follows:
1. Switch off the converter supply voltage.
2. Wait until all LEDs on the converter are dark.
3. Switch the converter supply voltage on again.
Your settings become effective after switching on.
You have now activated the changed settings.

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 Communication over CANopen
6.7 Integrating the converter into CANopen

6.7.3 Setting the monitoring of the communication

To monitor the communication, use one of the following methods:

• Node guarding / life guarding 0RQLWRULQJTXHU\
0DVWHU 6ODYH
6ODYHUHVSRQVH

• Heartbeat 0DVWHU +HDUWEHDW 6ODYH

Node guarding / life guarding

Principle of operation
• Node guarding:
Is always active if heartbeat is not activated (p8606 = 0). Node guarding means the manager
sends monitoring queries to the converter which then answers.
The converter does not monitor the communication. Set the responses to a bus failure in the
manager.
• Life guarding:
is active if you use p8604.0 and p8604.1 to set a lifetime ≠ 0.
Life Guarding means that the converter monitors the manager's monitoring query and
reports fault F8700 (A) with fault value 2, if a life guarding protocol (life guarding event) is
not received within the lifetime. Set additional responses to a bus failure in the manager.
Calculate value for lifetime
Life time = guard time in milliseconds (p8604.0) * life time factor (p8604.1)

Heartbeat

Principle of operation
The device periodically sends heartbeat messages. Other devices and the manager can
monitor this signal. In the manager, set the responses for the case that the heartbeat does
not come.

Setting value for heartbeat

Set in p8606 the cycle time for the heartbeat in milliseconds.

Converter behavior with a bus fault

With a bus fault, the CAN manager goes to the "Bus OFF" status. In the converter, set the
response to the bus error using parameter p8641. Factory setting: p8641 = 3 (AUS3).

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Communication over CANopen
6.8 Error diagnostics

If you have resolved the bus error, then you have the following options to restart
communication:
• You switch off the converter power supply, wait until all of the LEDs on the converter go dark,
and then you switch on the converter power supply again.
This means that you withdraw the bus state and restart communication.
• You acknowledge the bus error via DI 2 or directly via p3981 and start the communication
either
– Manually by setting p8608[0] = 1. After starting, p8608 is internally set back to 0.
– Automatically every two seconds. To do this, you must have set p8608[1] to 1 when
commissioning.

WARNING
OFF command not effective as a result of a bus fault
When the bus has a fault condition, the higher-level control cannot access the converter. If, as
a response to a bus fault p8641 = 0 (no response) is set, then the motor remains switched-on
- even if the higher-level control sends an OFF command to the converter.
• Configure an additional OFF command via terminals.

6.8 Error diagnostics

Objects to signal and describe errors and operating states

The following options are available to display errors and operating states:
• Display of the operating state using LEDs
• Display of the operating state using the alarm object (Emergency Object)
– Converter-specific error list (predefined error field)
– CANopen error register (error register)

Description of the LED symbols for CANopen

LED is bright

LED flashes slowly

V

LED flashes quickly

V

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 Communication over CANopen
6.8 Error diagnostics

LED flashes in the "single flash" mode

V

LED flashes in the "double flash" mode

V

LED flashes with variable frequency

Table 6-7 CANopen fieldbus

BF Explanation
Data exchange between the converter and control system is active ("Operational" state)

Fieldbus is in the "Pre-operational" state

Fieldbus is in the "Stopped" state

No fieldbus available
RDY When LED RDY flashes simultaneously:
Firmware update failed

Alarm - limit reached

Error event in the higher-level control system (Error Control Event)

Converter waits until the power supply is switched off and switched on again after a firmware
update

Incorrect memory card or unsuccessful firmware update

Firmware update is active

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Communication over CANopen
6.8 Error diagnostics

Display of the operating state using the alarm object (Emergency Object)
Error states are displayed using the alarm object (Emergency Object), OV index 1014 in the
emergency telegram. It has the following structure:

%\WH %\WH %\WH %\WH %\WH %\WH

&$1RSHQ 'ULYHREMHFW
&$1RSHQ(UURUFRGH (UURU 6,1$0,&6IDXOWQXPEHU DOZD\V  5HVHUYHG 5HVHUYHG
5HJLVWHU

• Bytes 0 and 1: CANopen error code

• Byte 2: Codes for the CANopen error register
• Byte 5: Number of the drive object. For G120 converters, this is always = 1

Errors trigger an emergency telegram and cause the drive to shut down.
You can suppress the emergency telegram by setting bit 31 in object 1014 hex to 1.
This means that shutdown is not suppressed, however the fault message is not sent to the
manager.

Converter-specific error list (predefined error field)

You can read out the converter-specific error list using the following objects:
• OV index 1003 hex
• Converter parameter p8611
It includes the alarms and faults present in the converter in the CANopen alarm number
range 8700-8799.
The errors are listed in the order in which they occur using an error code and additional,
device-specific information.
As soon as a fault is acknowledged or an alarm is resolved, they are deleted from the
converter-specific error list.
You acknowledge all of the active converter errors by setting subindex 0 in the OV index
1003 to 0 or setting p8611[0] = 0.

Table 6-8 CANopen error code

Error code Meaning Explanation

0000 hex No error present Successful acknowledgement of all errors or all the alarms are
cleared in the display.
1000 hex CAN Error 1 All other SINAMICS faults/errors
1001 hex CAN Error 2 All other CANopen alarms in the alarm number range
F08700 to F08799
8110 hex CAN overflow, mes‐ CBC: Telegram loss (A(N)08751) [alarm]
sage lost
8120 hex CAN Error Passive CBC: Error number for Error Passive exceeded (A08752) [alarm]
8130 hex CAN Life Guard Error CBC: Communications error, alarm value 2 F08700(A) [error/
alarm]

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6.9 CAN bus sampling time

CANopen error register (error register)

You can read out the error register using the following objects:
• OV index 1001 hex
• Converter parameter r8601
It indicates the error in byte 2 of the emergency telegram.

Table 6-9 CANopen Error Register

Error Regis‐ Meaning Explanation

ter
Bit 0 Generic error Set for every alarm that CAN identifies.
Bit 4 Communication Is set for CAN communication alarms (alarms in the range
error 08700 … 08799).
Bit 7 Manufacturer error Is set for all alarms outside the range 08700 … 08799.

Response in the case of an error

For a CAN communication error, e.g. too many telegram failures, the converter outputs fault
F(A)08700(2).
For further information, please refer to the List Manual of your converter.
Overview of the manuals (Page 217)).

You set the response of the CAN node in p8609.

• p8609 = 0 Pre-operational
• p8609 = 1 No change (factory setting)
• p8609 = 2 Stopped
You set the converter response in p8641:
• p8641 = 0 No reaction (factory setting)
• p8641 = 1 OFF1
• p8641 = 2 OFF2
• p8641 = 3 OFF3

6.9 CAN bus sampling time

The CAN bus sampling time is 4 ms. The converter can send and receive telegrams within this
time frame.

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Communication over CANopen
6.9 CAN bus sampling time

Receive telegrams cycle time

• For cyclic receive telegrams, the cycle time must be greater than twice the sampling time.
Telegrams could be lost if the cycle time is any less than this. In this case, warning A08751
appears.
• With receive telegrams for which data does not change faster than twice the sampling time,
it is possible to set a cycle time shorter than twice the sampling time if your application
permits telegrams to be lost in the process.
An A08751 warning can be avoided by changing the message type to "No message" via
parameters p2118 and p2119.

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General information
The converter operates based on the extended AS-i specification V3.0.
The signaling is made as Manchester-coded current pulses superimposed on the 28 V supply.
Decouple the 28 V supply with inductances so that the receivers can decouple the transferred
messages.
The Control Unit power consumption is approx. 90 mA provided you do not use any digital
or analog inputs. When you use digital and analog inputs, the power requirement can be as
high as 300 mA.
The converter supports the Single device and Dual device modes.
In Single device mode, the converter has an address in the AS-i network over which four bits
are transferred. In Dual device mode, each converter has two AS-i addresses over each of
which four bits are transferred.
In the Single device mode, communication is realized in accordance with protocol 7.F.E. In
the Dual device mode, communication is realized in accordance with protocols 7.A.5 and
7.A.E.

Default settings for commissioning

To configure the communication of the converter via AS-i, the following options are available for
commissioning the converter: Using parameter p0015, select which default setting you wish to
accept:

Table 7-1 p0015 (macro drive unit)

p0015 = Designation Meaning

30 Default setting 30 - single device mode, standard ad‐ Single device mode, where the control system specifies
dressing a fixed frequency
31 Default setting 31 - dual device mode with fixed set‐ Dual device mode, where the control system specifies a
points fixed frequency
32 Default setting 32 - single device mode, modified ad‐ Default setting 32 - Single device mode, modified ad‐
dressing dressing:
34 Default setting 34 - dual device mode with "ON/OFF1", Dual device mode with "ON/OFF1", "OFF2", speed set‐
"OFF2" point from the control system

Details about the default settings are provided in the operating instructions of your converter.
Overview of the manuals (Page 217)

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Communication via AS-i – only for G115D
7.1 Setting the address

Connection
The following table shows the AS-i plug assignment.

Table 7-2 Pin assignment

X03 AS-i (M12) Pin Function Description


1 AS-i + AS-i plus signal
   2 0V Reference potential for terminal 4
 3 AS-i - AS-i minus signal
4 24 V 24 V auxiliary voltage
5 Not assigned

Requirement for applications in the USA and Canada

Use an external 24 V power supply with one of the following specifications:
• NEC Class 2
• Voltage/current-limited

More information
You can find more information about connection in the AS-Interface System Manual.
Overview of the manuals (Page 217)

7.1 Setting the address

As factory setting, all AS-i devices have address 0. Devices with address 0 are not included in the
communication.
The addresses must be unique, although they can be mixed as required.
You have the following options when making the address assignment:
• Automatic addressing via the AS-i master
• Addressing via the addressing device
• Addressing via parameters
Before you set the address, you must specify whether the converter is integrated as Single
device or Dual devicein the AS-i network.
• p2013 = 0: Single device (factory setting)
• p2013 = 2: Dual device

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7.1 Setting the address

If for the commissioning you select the default setting 30 or 32 (Single device or 31 or 34
(Dual device), p2013 is assigned the appropriate value.

Note
Changes made to p2012 and p2013
Changes made to the p2012 and p2013 parameters take effect immediately after the change.
If you work with Startdrive, you must back up the changes so they are not lost when the system
is switched off and on again.

Automatic addressing via the AS-i master

Single device
For automatic addressing, the address is specified by the AS-i master. For a Single device, the
master checks which device has address 0 and assigns it the next free address. This address
is also written to parameter p2012. If more than one device has address 0, an automatic
addressing is not possible.

Dual device
For automatic addressing, the address is specified by the AS-i master. If both devices have
address 0, the second device is hidden and the control assigns a valid address for device 1.
device 2 then becomes visible with address 0 and can be addressed.
Automatic addressing is not always possible for older AS-i masters. In this case, use the
manual addressing and set the address from an addressing device, via Startdrive or from an
operator panel on the converter.
You can find more information in the AS-Interface System Manual, "Setting the AS-i address"
section.
Overview of the manuals (Page 217)

Addressing via the addressing device (e.g. 3RK1904-2AB02)

Addressing via the addressing device is made offline.
You can find more information
• in the AS-Interface System Manual, "Setting the AS-i address" section
• G115D Operating Instructions, "Using an AS-i addressing unit" section
Overview of the manuals (Page 217)

Addressing via parameters

The address assignment is made with the p2012[0] and p2012[1] parameters.

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Communication via AS-i – only for G115D
7.2 Single Device mode

If you assign the address via Startdrive, you must back up the settings so that they are not
lost if the power fails.
• Address range for Single device converter, profile 7.F.E
– p2012[1]: 0 … 31, range for the A address, 0A … 31A
• Address range for Dual device converter, profile 7.A.5 or 7.A.E
– p2012[0]: 0 … 31, 33 … 63 for device 1:
– p2012[1]: 0 … 31, 33 … 63 for device 2:
with
– 0 … 31 range for the A address, 0A … 31A
– 33 … 63 range for B address, 1B … 31B

7.2 Single Device mode

In Single Device mode, four bits are available for the communication between the AS-i master
and the converter. The four bits are used to transfer process data. In parallel, the control can start
a diagnostic request via AS-i.P0.
The following default settings are available; both work with profile 7.F.E.
• Default setting 30: Standard Single Device mode
• Default setting 32: Modified Single Device mode

Default setting 30: Standard Single Device mode

In standard addressing, the control specifies the speed setpoint via the motor control bits (AS-
i.DO0 … AS-i.DO3).

Control -> converter

• AS-i.DO0 -> p1020 = 2093.0 Fixed speed bit 0

• AS-i.DO1 -> p1021 = 2093.1 Fixed speed bit 1
• AS-i.DO2 -> p1022 = 2093.2 Fixed speed bit 2
• AS-i.DO3 -> p1023 = 2093.3 Fixed speed bit 3
Table 7-3 Fixed speeds via the motor control bits (Page 210).

Converter -> control

If the control specifies the speed setpoint, the converter replies:

• p2080[0] = 53.13 -> AS-i.DI0 Operational enable for PLC

• p2080[1] = 899.11 -> AS-i.DI1 Pulses enabled
• p2080[2] = 722.0 -> AS-i.DI2 State DI0
• p2080[3] = 722.1 -> AS-i.DI3 State DI1
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.

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7.3 Dual Device mode

Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 211).

Default setting 32: Modified Single Device mode

In Single Device mode with modified addressing the control specifies the following:

Control -> converter

• AS-i.DO0 -> p3330.0 = 2093.0 ON clockwise / OFF 1

• AS-i.DO1 -> p3331.0 = 2093.1 ON counter-clockwise / OFF 1
• AS-i.DO2 -> p0810 = 2093.2 Speed via potentiometer or AI0
• AS-i.DO3 -> p2104 = 2093.3 Acknowledge errors with a positive edge
p0852 = 2093.3 Operating enable, if p2093.3 = 1

Converter -> control

The converter sends as response:

• p2080[0] = 899.0 -> AS-i.DI0 Ready for switching on

• p2080[1] = 807.0 -> AS-i.DI1 Control priority
• p2080[2] = 722.0 -> AS-i.DI2 State DI0
• p2080[3] = 722.1 -> AS-i.DI3 State DI1
If an alarm or fault is pending in the converter, it sends a warning or fault message.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 211).

Scaling factors for the speed

The scaling factor is specified via AS-i.P0 … AS-i.P3. A diagnostic request is also performed
when AS-i.P0 is sent.
This means, if the control specifies a scaling factor and an alarm or fault is pending in the
converter, it sends the current alarm or fault messages and accepts simultaneously the sent
value consisting of AS-i.P0 … AS-i.P3 as new scaling factor.

• AS-i.P0 Scaling factor bit 0

• AS-i.P1 Scaling factor bit 1
• AS-i.P2 Scaling factor bit 2
• AS-i.P3 Scaling factor bit 3
Table 7-4 Scaling of the speed setpoint via AS-i.P0 … AS-i.P3 (Page 210).

7.3 Dual Device mode

In Dual Device mode, eight bits are available for the communication between the AS-i master
and the converter. The eight bits are used to transfer process data. In parallel, the control can
start a diagnostic request via AS-i.P0.

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7.3 Dual Device mode

The following default settings are possible:

• Default setting 31: Dual Device mode with fixed setpoints
• Default setting 34: Dual Device mode with setpoint via AS-i field bus

Default setting 31: Dual Device mode with fixed setpoints

The control accesses the two devices of the converter each via four bits.
Via device 2, in accordance with profile 7.A.E, the control specifies the speed setpoint via the
motor control bits (AS-i.DO0 … AS-i.DO2).
Via device 1, the control sends data in cyclical or acyclical mode, in accordance with profile
7.A.5.
The control requires one bit per device in order to specify the device.

Default setting 31, device 2 with profile 7.A.E: Control -> converter

• AS-i.DO0 -> p1020.0 = 2093.0 Fixed speed bit 0

• AS-i.DO1 -> p1021.0 = 2093.1 Fixed speed bit 1
• AS-i.DO2 -> p1022.0 = 2093.2 Fixed speed bit 2
• AS-i.DO3 -> Select device A or device B, interconnected internally
Table 7-5 Fixed speeds via the motor control bits and response in the converter
(Page 211).
If the control specifies the speed setpoint, the converter replies:

Default setting 31, device 2 with profile 7.A.E: Converter -> control

• p2080[0] = 53.13 PLC ready to switch on -> AS-i.DI0

• p2080[1] = 899.11 Pulses enabled -> AS-i.DI1
• p2080[2] = 722.0 State DI0 -> AS-i.DI2
• p2080[3] = 722.1 State DI1 -> AS-i.DI3
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 211).

Default setting 31, device 1 with profile 7.A.5: Control -> converter

• AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master
• AS-i.DO1 -> Data bit for the CTT2 transfer, four bytes cyclically or acyclically via PIV.
The reading and writing of parameters is possible via the PIV. Because
data is transferred bit-by-bit, the read and write process is very slow.
• AS-i.DO2 -> p0881 = 2093.4 Override quick stop
• AS-i.DO3 -> Select device A or device B, interconnected internally

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7.3 Dual Device mode

Default setting 31, device 1 with profile 7.A.5: Converter -> control

• p2080[4] = 722.2 State DI2 -> AS-i.DI0

• p2080[5] = 722.3 State DI3 -> AS-i.DI1
• Serial data transfer CTT2, four bytes cyclically or acyclically via PIV. The -> AS-i.DI2
reading and writing of parameters is possible via the PIV. Because data
is transferred bit-by-bit, the read and write process is very slow.
• Time signal for the CTT2 transfer to the AS-i master -> AS-i.DI3

Default setting 34: Dual Device mode with setpoint via AS-i field bus
The control accesses the two devices of the converter each via four bits.
Via device 2, in accordance with profile 7.A.E, the control specifies the commands listed
below (AS-i.DO0 … AS-i.DO2).
Via device 1, the control sends the command for quick stop and the data in cyclical or
acyclical mode.
The control requires one bit per device in order to specify the device.

Default setting 34, device 2 with profile 7.A.E: Control -> converter

• AS-i.DO0 -> ON / OFF 1

• AS-i.DO1 -> OFF 2
• AS-i.DO2 -> Acknowledge fault
• AS-i.DO3 -> Select device A or device B, interconnected internally
If the control specifies the speed setpoint, the converter replies:

Default setting 34, device 2 with profile 7.A.E: Converter -> control

• p2080[0] = 53.13 PLC ready to switch on -> AS-i.DI0

• p2080[1] = 899.11 Pulses enabled -> AS-i.DI1
• p2080[2] = 722.0 State DI0 -> AS-i.DI2
• p2080[3] = 722.1 State DI1 -> AS-i.DI3
If the control sends a diagnostic request via AS-i.P0, the converter replies with the currently
pending fault or alarm messages.
Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i
master (Page 211).

Default setting 34, device 1 with profile 7.A.5: Control -> converter

• AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master
• AS-i.DO1 -> Data bit for the CTT2 transfer, four bytes cyclically or acyclically via PIV.
The reading and writing of parameters is possible via the PIV. Because
data is transferred bit-by-bit, the read and write process is very slow.
• AS-i.DO2 -> p0881 = 2093.4 Override quick stop
• AS-i.DO3 -> Select device A or device B, interconnected internally

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7.4 Assignment tables

Default setting 34, device 1 with profile 7.A.5: Converter -> control

• p2080[4] = 722.2 State DI2 -> AS-i.DI0

• p2080[5] = 722.3 State DI3 -> AS-i.DI1
• Serial data transfer CTT2, four bytes cyclically or acyclically via PIV. The -> AS-i.DI2
reading and writing of parameters is possible via the PIV. Because data
is transferred bit-by-bit, the read and write process is very slow.
• Time signal for the CTT2 transfer to the AS-i master -> AS-i.DI3

7.4 Assignment tables

Fixed speeds - Single Device

Table 7-3 Fixed speeds via the motor control bits

AS-i.DO3 AS-i.DO2 AS-i.DO1 AS-i.DO0 Response in the converter

0 0 0 0 OFF1
0 0 0 1 On + fixed speed 1 (factory setting: 1500 rpm)
0 0 1 0 On + fixed speed 2 (factory setting: -1500 rpm)
0 0 1 1 On + fixed speed 3 (factory setting: 300 rpm)
0 1 0 0 On + fixed speed 4 (factory setting: 450 rpm)
0 1 0 1 On + fixed speed 5 (factory setting: 600 rpm)
0 1 1 0 On + fixed speed 6 (factory setting: 750 rpm)
0 1 1 1 On + fixed speed 7 (factory setting: 900 rpm)
1 0 0 0 On + fixed speed 8 (factory setting: 1050 rpm)
1 0 0 1 On + fixed speed 9 (factory setting: 1200 rpm)
1 0 1 0 On + fixed speed 10 (factory setting: 1350 rpm)
1 0 1 1 On + fixed speed 11 (factory setting: 1500 rpm)
1 1 0 0 On + fixed speed 12 (factory setting: 1650 rpm)
1 1 0 1 On + fixed speed 13 (factory setting: 1800 rpm)
1 1 1 0 On + fixed speed 14 (factory setting: 1950 rpm)
1 1 1 1 Acknowledge fault or OFF2

Modified addressing - scaling factors

Table 7-4 Scaling of the speed setpoint via AS-i.P0 … AS-i.P3

AS-i.P3 AS-i.P2 AS-i.P1 AS-i.P0 Scaling factor Frequency (Hz)

1 1 1 1 1 50
1 1 1 0 0.9 45
1 1 0 1 0.8 40
1 1 0 0 0.7 35
1 0 1 1 0.6 30

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7.4 Assignment tables

AS-i.P3 AS-i.P2 AS-i.P1 AS-i.P0 Scaling factor Frequency (Hz)

1 0 1 0 0.5 25
1 0 0 1 0.45 22.5
1 0 0 0 0.4 20
0 1 1 1 0.35 17.5
0 1 1 0 0.3 15
0 1 0 1 0.25 12.5
0 1 0 0 0.2 10
0 0 1 1 0.15 7.5
0 0 1 0 0.1 5
0 0 0 1 0.07 3.5
0 0 0 0 0.05 2.5

Fixed speeds - Dual Device

Table 7-5 Fixed speeds via the motor control bits and response in the converter

AS-i.DO2 AS-i.DO1 AS-i.DO0 Response in the converter

0 0 0 OFF1
0 0 1 On + fixed speed 1 (factory setting: 1500 rpm)
0 1 0 On + fixed speed 2 (factory setting: -1500 rpm)
0 1 1 On + fixed speed 3 (factory setting: 300 rpm)
1 0 0 On + fixed speed 4 (factory setting: 450 rpm)
1 0 1 On + fixed speed 5 (factory setting: 600 rpm)
1 1 0 On + fixed speed 6 (factory setting: 750 rpm)
1 1 1 Acknowledge fault or OFF2

Alarm and fault messages

Table 7-6 Alarm and fault messages via RP0 … RP3 from the converter to the AS-i master

RP3 RP2 RP1 RP0 AS-i.P0 = 0 -> alarm messages AS-i.P0 = 1 -> faults
0 0 0 0 No alarm No fault
0 0 0 1 not used Temperature rise F30004, F30012,
F30013, F30024, F30025, F30036
0 0 1 0 not used not used
0 0 1 1 No load (A07929) not used
0 1 0 0 Temperature rise (A05000, I2t overload (F30005, F07936)
A05004, A05006, A07012,
A07015)
0 1 0 1 Overvoltage (A07400, A30502) Equipment malfunction (F01000 ...
F01257)
0 1 1 0 Keyswitch off (A03560)1) not used
0 1 1 1 Undervoltage (A07402, A30016) Motor-PTC sensor malfunction (F07011,
F07016)

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Communication via AS-i – only for G115D
7.5 Cyclic and acyclic communication via CTT2

RP3 RP2 RP1 RP0 AS-i.P0 = 0 -> alarm messages AS-i.P0 = 1 -> faults
1 0 0 0 I2t overload (A07805) Overvoltage (F30002, F30011)
1 0 0 1 not used not used
1 0 1 0 LOCAL Mode active (A03561) 1)
not used
1 0 1 1 not used Undervoltage (F30003, F07802)
1 1 0 0 not used Short-circuit at the output (F30001,
F30017, F30021, F07801, F07807,
F07900)
1 1 0 1 Motor phase loss (A30015)2) Motor phase loss (F30015, F07902)
1 1 1 0 not used Safety fault (F016xx)
1 1 1 1 Other alarms Other faults
1)
Only for G115D
2)
Only if F30015 was reparameterized as an alarm

7.5 Cyclic and acyclic communication via CTT2

Via CTT2 (Combined Transaction Type 2), both cyclical and acyclical communication is
performed via AS-i. Because only one channel is available (AS-i.DO1 master -> device or AS-i.DI3
device -> master), a concurrent cyclical and acyclical data exchange is not possible.
The communication type (cyclical or acyclical) is always coded in the first byte in accordance
with the following table.

Table 7-7 CTT2 commands

Code Explanation/meaning Followed by

(hex)
Cyclic communication
Access to analog values via DS140 … DS147. See CP 343−2 / CP 4 bytes: PWE1, PWE2
343−2 P AS−Interface master (http:// 4 bytes: PWE1, PWE2
support.automation.siemens.com/WW/view/en/5581657),
Chapter 4
Acyclic communication - standard
10 hex Read request: Master -> device 2 bytes: Index, length
50 hex Read request OK: Device -> master Index, data
90 hex Read request failed: Device -> master 1 byte: Standard error code (3 hex)
11 hex Write request: Master -> device Index, length, data
51 hex Write request OK: Device -> master
91 hex Write request failed: Device -> master 1 byte: Standard error code (3 hex)
Acyclic communication - manufacturer-specific
12 hex Read request: Master -> device Index, length
52 hex Read request OK: Device -> master Data
92 hex Read request failed: Device -> master Fault object
13 hex Write request: Master -> device Index, length, data
53 hex Write request OK: Device -> master

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 Communication via AS-i – only for G115D
7.5 Cyclic and acyclic communication via CTT2

Code Explanation/meaning Followed by

(hex)
93 hex Write request failed: Device -> master Fault object
1D hex Exchange request: Master -> device Index, read length, write length, write
data
5D hex Exchange request OK: Device -> master PKE, index, n-2 data
9D hex Exchange request faulty: Device -> master Fault object

If an acyclical request cannot be executed by the converter, it replies with one of the
following error messages.

Error message Meaning

0 No fault
1 Invalid index
2 Incorrect length
3 Request not implemented
4 Busy (the request could not be processed completely within the time window, retry
later)
5 Last acyclical request was not confirmed
6 Invalid subindex
7 "Selective read request" command missing

7.5.1 Cyclic communication

Converter -> master
The converter cyclically transfers the data from p2051[1] and p2051[2] in four bytes to the
master. You can process these four bytes in the control as for analog data. Refer to the
documentation for the AS-i master for detailed information about access to analog data.
If you selected default setting 31 or 34 during the commissioning, the two indexes are
interconnected as follows:
• p2051[1] = 63: Smoothed actual speed value
• p2051[2] = 27: Absolute smoothed actual current value
The values for transfer are normalized in accordance with the Profidrive N2 data type.
Using p2051[1] and p2051[2] you can interconnect any other or connector parameters
and transfer to the control.

Master -> converter

The master transfers the data in the "Combined Transaction Type 2" (CTT2) to the converter
and writes it to r2050[1] and r2050[2].
To process these values in the converter, you must appropriately interconnect r2050[1] and
r2050[2] in the converter. This means, when the control sends the speed setpoint, you must

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Communication via AS-i – only for G115D
7.5 Cyclic and acyclic communication via CTT2

interconnect parameter p1070 (source for the main setpoint) with r2050 as follows:
p1070[0] = 2050[1]

Note
Internal interconnection with default setting 34
If, when commissioning, you select "Default setting 34", then the main setpoint is internally
interconnected with r2050[1].

Once a setpoint has been transferred completely, the setpoint present in the control will
be transferred as next setpoint. Any setpoint changes made during the transfer are not
considered.

7.5.2 Acyclic communication - standard

This type of acyclical communication supports the ID read request and the diagnostic read
request. All other requests receive the "request not implemented" message response.
• ID request:
– Master -> device KH[ KH[ QQKH[
– Device -> master KH[ KH[ 0DQXIDFWXUHU V,' 3URGXFW,' %%KH[

• Diagnostic request:
– Master -> device KH[ KH[ QQKH[
– Device -> master no error KH[ KH[ KH[ ;
Device -> master general error KH[ KH[ KH[
The following repsonse is issued for all other write or read requests:
• Read requests KH[ KH[
• Write requests KH[ KH[

7.5.3 Acyclic communication - manufacturer-specific

The manufacturer-specific acyclical communication is performed via data record 47 in PIV
format. The PIV format structure is identical with that for the USS parameter channel.
USS parameter channel (Page 108).

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 Communication via AS-i – only for G115D
7.5 Cyclic and acyclic communication via CTT2

To reduce the transfer volume, there is not only the "normal" "data exchange" PIV
mechanism, but also the "Read data" and "Write data" commands.
• Data exchange:
– Control -> converter request
– Converter -> control response
• Read data:
The converter sends a read command, and the data of the last exchange request or write
request is transferred from the converter to the control.
• Write data
Write OK: -> 53 hex.
Because the PIV transfer protocol specifies the transfer direction independently, all
parameters can be transferred as data exchange request/response. Requests for reading and
writing data are included primarily to reduce the transferred data volume for the repeated
reading or writing of parameters.

Data exchange

0DQXIDFWXUHUVSHFLILFH[FKDQJHUHTXHVW
,QGH[
:ULWHOHQJWK
5HDGOHQJWK
3,9VKDUH

5HTXHVW
PDVWHUVODYH 'KH[ )KH[ KH[ KH[ 3.( ,1' 3:( 3:(

$QVZHU 'KH[ 3.( ,1' 3:( 3:(

VODYHPDVWHU

3,9VKDUH
0DQXIDFWXUHUVSHFLILFH[FKDQJHUHTXHVW2.

Reading data
The data for the last write or exchange request is read

0DQXIDFWXUHUVSHFLILFUHDGUHTXHVW
,QGH[
5HDGOHQJWK

5HTXHVW
KH[ )KH[ KH[
PDVWHUVODYH

$QVZHU KH[ 3.( ,1' 3:( 3:(

VODYHPDVWHU

3,9VKDUH
0DQXIDFWXUHUVSHFLILFUHDGUHTXHVW2.

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Communication via AS-i – only for G115D
7.5 Cyclic and acyclic communication via CTT2

Writing data

0DQXIDFWXUHUVSHFLILFZULWHUHTXHVW
,QGH[
:ULWHOHQJWK
3,9VKDUH

5HTXHVW
KH[ )KH[ KH[ 3.( ,1' 3:( 3:(
PDVWHUVODYH

$QVZHU KH[
VODYHPDVWHU
0DQXIDFWXUHUVSHFLILFZULWHUHTXHVW2.

In the event of a fault, the converter sends the following telegram as response to the master:
KH[ KH[ 3:( .
Value for PWE: Fault table from USS parameter channel (Page 108).

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Appendix A
A.1 Application examples for communication with STEP7
Application examples for communication with STEP 7 can be found in the following manual:
"Fieldbuses" function manual, edition 09/2017 (https://
support.industry.siemens.com/cs/ww/en/view/109751350)

A.2 Manuals and technical support

A.2.1 Overview of the manuals

You can find manuals here with additional information for downloading
• CU250S-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/
view/109782994)
Installing, commissioning and maintaining the converter. Advanced commissioning

• CU240B/E-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/

view/109782865)
Installing, commissioning and maintaining the converter. Advanced commissioning

• CU230P-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/

view/109782866)
Installing, commissioning and maintaining the converter. Advanced commissioning

• SINAMICS G120C operating instructions. (https://

support.industry.siemens.com/cs/ww/en/view/109482993)
Installing, commissioning and maintaining the converter. Advanced commissioning

• SINAMICS G115D Operating Instructions

Installing, commissioning and maintaining the converter. Advanced commissioning

• Operating instructions SINAMICS G120D with CU240D-2 (https://

support.industry.siemens.com/cs/ww/en/view/109477366)
Installing, commissioning and maintaining the converter. Advanced commissioning

• Operating instructions SINAMICS G120D with CU250D-2 (https://

support.industry.siemens.com/cs/ww/en/view/109477365)
Installing, commissioning and maintaining the converter. Advanced commissioning

Fieldbuses
Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 217
Appendix
A.2 Manuals and technical support

• "Safety Integrated" function manual (https://support.industry.siemens.com/cs/ww/en/

view/109751320)
Configuring PROFIsafe.
Installing, commissioning and operating failsafe functions of the converter.

• "Fieldbus" function manual (https://support.industry.siemens.com/cs/ww/en/view/

109751350)
Configuring fieldbuses (this manual)

• "Basic positioner" function manual (https://support.industry.siemens.com/cs/ww/en/

view/109477922)
Commissioning the basic positioner

• CU250S-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/

109782287)
List of all parameters, alarms and faults, graphic function diagrams.

• CU240B/E-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/

109782301)
List of all parameters, alarms and faults, graphic function diagrams.

• CU230P-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/

109782303)
List of all parameters, alarms and faults, graphic function diagrams.

• List manual SINAMICS G120D (https://support.industry.siemens.com/cs/ww/en/view/

109477255)
List of all parameters, alarms and faults, graphic function diagrams.

• SINAMICS G120C List Manual (https://support.industry.siemens.com/cs/ww/en/view/

109482977)
List of all parameters, alarms and faults, graphic function diagrams.

• AS-Interface system manual (https://support.industry.siemens.com/cs/ww/en/view/

26250840)

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 Appendix
A.2 Manuals and technical support

Finding the most recent edition of a manual

If there a multiple editions of a manual, select the latest edition:

Configuring a manual
Further information about the configurability of manuals is available in the Internet:
MyDocumentationManager (https://www.industry.siemens.com/topics/global/en/
planning-efficiency/documentation/Pages/default.aspx).
Select "Display and configure" and add the manual to your "mySupport-documentation":

Not all manuals can be configured.

The configured manual can be exported in RTF, PDF or XML format.

A.2.2 Configuring support

Catalog
Ordering data and technical information for the converters SINAMICS G.

Catalogs for download or online catalog (Industry Mall):

Everything about SINAMICS G120 (www.siemens.en/sinamics-g120)

SIZER
The configuration tool for SINAMICS, MICROMASTER and DYNAVERT T drives, motor starters, as
well as SINUMERIK, SIMOTION controllers and SIMATIC technology

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Appendix
A.2 Manuals and technical support

SIZER on DVD:
Article number: 6SL3070-0AA00-0AG0
Download SIZER (https://support.industry.siemens.com/cs/ww/en/view/54992004)

EMC (electromagnetic compatibility) technical overview

Standards and guidelines, EMC-compliant control cabinet design

EMC overview (https://support.industry.siemens.com/cs/ww/en/view/103704610)

EMC Guidelines configuration manual

EMC-compliant control cabinet design, potential equalization and cable routing

EMC installation guideline (http://support.automation.siemens.com/WW/view/en/

60612658)

See also
Safety Integrated for novices (https://support.industry.siemens.com/cs/ww/en/view/
80561520)

A.2.3 Product Support

Overview
You can find additional information about the product on the Internet:
Product support (https://support.industry.siemens.com/cs/ww/en/)
This URL provides the following:
• Up-to-date product information (product announcements)
• FAQs
• Downloads
• The Newsletter contains the latest information on the products you use.
• The Knowledge Manager (Intelligent Search) helps you find the documents you need.
• Users and specialists from around the world share their experience and knowledge in the
Forum.

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 Appendix
A.2 Manuals and technical support

• You can find your local representative for Automation & Drives via our contact database
under "Contact & Partner".
• Information about local service, repair, spare parts and much more can be found under
"Services".
If you have any technical questions, use the online form in the "Support Request" menu:

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Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH 221
Appendix
A.2 Manuals and technical support

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222 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
Index

A E
Acyclic communication, 42 EMCY, 160
Application example, 41, 74, 138 Extending the telegram, 29
Reading and writing parameters cyclically via
PROFIBUS, 41
F
Function Manual, 217
C
CAN
COB, 160 G
COB ID, 161
GSD (Generic Station Description), 75
Device profile, 160
GSDML (Generic Station Description Markup
EMCY, 160
Language), 63
NMT, 160
SDO, 160
SYNC, 160
CANopen communication profile, 160
H
Catalog, 219 Hotline, 220
Checklist
PROFINET, 62, 81
COB, 160 I
COB ID, 161
IND (page index), 34, 38, 39, 110, 112
Communication
Industry Mall, 219
Acyclic, 42
Cyclically, 13
Configuring support, 219
Control word
L
Control word 1, 17 List Manual, 217
Control word 2, 20
Control word 3, 21
Control word 1, 115 M
Control word 2 (STW2), 20
Maximum cable length
Control word 3 (STW3), 21
Modbus, 119
Cyclic communication, 16, 28
PROFIBUS, 75
PROFINET, 62
USS, 103
D MELD_NAMUR (fault word according to the VIK-Namur
Data set 47 (DS), 42 definition), 23
DC braking, 21
Device profile, 160
Direct data exchange, 42 N
Drive-independent communication objects, 183
Network management (NMT service), 161
DS 47, 43
NMT, 160

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Index

O U
Operating instruction, 3 USS (universal serial interface), 103, 108
Operating Instructions, 217

Z
P ZSW1 (status word 1), 19
Page index, 112 ZSW3 (status word 3), 22
Parameter channel, 31, 108 ZWST1 (status word 1), 116
IND, 34, 38, 39, 110, 112
Parameter index, 34, 38, 39, 110, 112
Parameter number, 34, 38, 39, 110
Parameter value, 43
PDO, 167
Procedure, 3
PROFIBUS, 74
PROFIenergy, 65
Pulse cancellation, 18, 115
Pulse enable, 18, 115

Q
Questions, 220

R
RS485 interface, 103

S
SDO, 160, 164
SDO services, 164
SIZER, 219
Status word
Status word 1, 19, 116
Status word 2, 20
Status word 3, 22
Status word 1 (ZSW2), 20
STW1 (control word 1), 17, 115
Subindex, 34, 38, 39, 110, 112
Support, 220
Switching on inhibited, 18, 115
Symbols, 3
SYNC, 160

T
Technology controller, 21

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224 Function Manual, 02/2023, FW V4.7 SP14, A5E34229197B AH
Further information
SINAMICS converters:
www.siemens.com/sinamics
Safety Integrated
www.siemens.com/safety-integrated
PROFINET
www.siemens.com/profinet

Siemens AG
Digital Factory
Motion Control
Postfach 3180
91050 ERLANGEN
Germany

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SINAMICS G120.